Add dataset card metadata

Adds a detailed dataset card generated from the current LeRobot metadata. No data, video, or meta files are modified.

README.md

@@ -4,310 +4,132 @@ task_categories:
 - robotics
 tags:
 - LeRobot
-- LeRobot
+- robotics
 - so101
 - code-as-policies
-- close-pot-lid
 - auto-collected
+- cap
+- 10fps
+- single-arm
+- dual-camera
+- skill-annotations
+- close-pot-lid
 configs:
 - config_name: default
   data_files: data/*/*.parquet
 ---
+# SO101 CAP Close Pot Lid
 
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
-
+This dataset contains 100 LeRobot v3.0 demonstration episodes for an SO101 follower robot. The task is: Pick up the pot lid by its handle and place it on the pot. The dataset was collected at 10 Hz and includes paired top-view and wrist-view RGB videos, robot state/action trajectories, and CAP skill annotations.
 
 <a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=CoRL2026-CSI/SO101-cap_close_pot_10fps">
 <img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
 <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
 </a>
 
+## Dataset Details
+
+| Field | Value |
+|---|---|
+| Repository | `CoRL2026-CSI/SO101-cap_close_pot_10fps` |
+| LeRobot codebase version | `v3.0` |
+| Robot type | `so101_follower` |
+| FPS | 10 |
+| Episodes | 100 |
+| Frames | 37669 |
+| Tasks | 2 |
+| Split | `0:100` train |
+| Objects | pot and pot lid |
+| Parquet files | 2 |
+| Video files | 4 |
+
+## Task And Annotations
+
+**Task:** Pick up the pot lid by its handle and place it on the pot.
+
+**Task indices:** 0, 1
+
+**Observed subtask annotations:**
+
+- pick pot lid and place on pot
+
+**Representative skill types:**
+
+- move_initial
+- move_and_open
+- move
+- gripper_close
+- move_linear
+- gripper_open
+- move_and_close
+- move_free
+
+**Representative skill-language annotations:**
+
+- Move to initial position
+- Approach pot lid handle and open gripper
+- Pick up the pot lid by its handle
+- grasp pot lid
+- Lift the pot lid
+- Move pot lid above the pot
+- Place lid on pot and seat it with a drag motion
+- push lid +2cm on pot
+- pull lid -0cm on pot
+- release lid on pot
+- Retreat from pot and close gripper
+- Return to initial state
+
+## Observation And Action Space
+
+| Feature | Shape | Names / Notes |
+|---|---:|---|
+| `observation.state` | `6` | shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
+| `action` | `6` | shoulder_pan.pos, shoulder_lift.pos, elbow_flex.pos, wrist_flex.pos, wrist_roll.pos, gripper.pos |
+| `observation.images.top` | `480x640x3` | RGB video, 10 fps |
+| `observation.images.left_wrist` | `480x640x3` | RGB video, 10 fps |
+
+Raw camera keys are `observation.images.top` and `observation.images.left_wrist`. The local SmolVLA training scripts map them to `observation.images.camera2` and `observation.images.camera1`, respectively.
+
+## Files
+
+```text
+meta/info.json
+meta/tasks.parquet
+meta/episodes/chunk-*/file-*.parquet
+data/chunk-*/file-*.parquet
+videos/{observation.images.top,observation.images.left_wrist}/chunk-*/file-*.mp4
+```
 
-## Dataset Description
+The dataset uses the LeRobot v3.0 format. Episode metadata and frame-level trajectories are stored in parquet files; image observations are stored as H.264 MP4 videos referenced by the frame records.
 
+## Annotation Columns
 
+| Column | Shape |
+|---|---:|
+| `skill.natural_language` | `1` |
+| `skill.verification_question` | `1` |
+| `skill.type` | `1` |
+| `skill.progress` | `1` |
+| `skill.goal_position.joint` | `6` |
+| `skill.goal_position.robot_xyzrpy` | `6` |
+| `skill.goal_position.gripper` | `1` |
+| `subtask.natural_language` | `1` |
+| `subtask.object_name` | `1` |
+| `subtask.target_position` | `3` |
 
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
+## Loading
 
-## Dataset Structure
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
-[meta/info.json](meta/info.json):
-```json
-{
-    "codebase_version": "v3.0",
-    "robot_type": "so101_follower",
-    "total_episodes": 100,
-    "total_frames": 37669,
-    "total_tasks": 2,
-    "chunks_size": 1000,
-    "data_files_size_in_mb": 100,
-    "video_files_size_in_mb": 200,
-    "fps": 10,
-    "splits": {
-        "train": "0:100"
-    },
-    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
-    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
-    "features": {
-        "observation.state": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_flex.pos",
-                "wrist_roll.pos",
-                "gripper.pos"
-            ]
-        },
-        "action": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_flex.pos",
-                "wrist_roll.pos",
-                "gripper.pos"
-            ]
-        },
-        "observation.images.top": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "h264",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 10,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.left_wrist": {
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channels"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "h264",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 10,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.ee_pos.robot_xyzrpy": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "x",
-                "y",
-                "z",
-                "roll",
-                "pitch",
-                "yaw"
-            ]
-        },
-        "observation.gripper_binary": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "observation.state.radian_urdf0": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_flex.pos",
-                "wrist_roll.pos",
-                "gripper.pos"
-            ]
-        },
-        "action.radian_urdf0": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_flex.pos",
-                "wrist_roll.pos",
-                "gripper.pos"
-            ]
-        },
-        "skill.natural_language": {
-            "dtype": "string",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "skill.verification_question": {
-            "dtype": "string",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "skill.type": {
-            "dtype": "string",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "skill.progress": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "skill.goal_position.joint": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "shoulder_pan.pos",
-                "shoulder_lift.pos",
-                "elbow_flex.pos",
-                "wrist_flex.pos",
-                "wrist_roll.pos",
-                "gripper.pos"
-            ]
-        },
-        "skill.goal_position.robot_xyzrpy": {
-            "dtype": "float32",
-            "shape": [
-                6
-            ],
-            "names": [
-                "x",
-                "y",
-                "z",
-                "roll",
-                "pitch",
-                "yaw"
-            ]
-        },
-        "skill.goal_position.gripper": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": [
-                "gripper.pos"
-            ]
-        },
-        "subtask.natural_language": {
-            "dtype": "string",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "subtask.object_name": {
-            "dtype": "string",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "subtask.target_position": {
-            "dtype": "float32",
-            "shape": [
-                3
-            ],
-            "names": [
-                "x",
-                "y",
-                "z"
-            ]
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        }
-    }
-}
+dataset = LeRobotDataset("CoRL2026-CSI/SO101-cap_close_pot_10fps")
+sample = dataset[0]
 ```
 
+## Intended Uses
 
-## Citation
+This dataset is intended for robot imitation learning, action-chunking policy training, skill-conditioned behavior analysis, and reproducible LeRobot/SmolVLA experiments on the specified tabletop task.
 
-**BibTeX:**
+## Limitations
 
-```bibtex
-[More Information Needed]
-```
+The dataset is task-specific and collected in a fixed workspace. It does not include an official validation or test split, nor does it include benchmark success-rate results. Downstream users should verify camera calibration, action normalization, and task-language assumptions before transferring policies to a different robot, workspace, or object set.