upload README.md

README.md

@@ -20,9 +20,9 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 <img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-dark-xl.svg"/>
 </a>
 
-# assembly_bench_data
+# assembly_bench_rewards
 
-Contact-rich **assembly** demonstrations (NIST peg insert) generated by a privileged scripted IK
+Contact-rich **assembly** demonstrations (NIST peg/gear/nut) generated by a privileged scripted IK
 expert in NVIDIA Isaac Lab (Arena). Actions are the **native DROID joint-position** command
 (7 absolute arm joint targets + binary gripper), so pi0.5/openpi/GR00T consume them directly.
 
@@ -34,7 +34,9 @@ expert in NVIDIA Isaac Lab (Arena). Actions are the **native DROID joint-positio
 
 | task | demos |
 |------|-------|
-| `pick up the 8 mm round peg and insert it into the hole` | 100 |
+| `pick up the 16 mm round peg and insert it into the hole` | 100 |
+| `pick up the 12 mm round peg and insert it into the hole` | 100 |
+| `pick up the 4 mm round peg and insert it into the hole` | 100 |
 
 ## Observation / action / state layout