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README.md

@@ -15,36 +15,165 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 
 
 
-- **Homepage:** https://github.com/unitreerobotics
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
 - **License:** apache-2.0
 
-
-- **Task Objective:** Organize and tidy the items on the table.  
-- **Operation Duration:** Each operation takes approximately 20 to 40 seconds.  
-- **Recording Frequency:** 30 Hz.  
-- **Robot Type:** 7-DOF single-arm G1 robot.  
-- **End Effector:** Gripper.  
-- **Dual-Arm Operation:** No.  
-- **Image Resolution:** 128x128.  
-- **Camera Positions:** head-mounted (binocular cameras).  
-- **Data Content:**  
-• Robot's current state.  
-• Robot's next action.  
-• Current camera view images.  
-- **Robot Initial Posture:** The first robot state in each dataset entry.  
-- **Object Placement:** Randomly placed within the robot arm's motion range and the field of view of the robot's head-mounted camera.  
-- **Camera View:** Follow the guidelines in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).  
-
-- **Important Notes:**  
-1. This is a G1 diversity dataset that can be used for video generation models, world models, and other applications \[[Lee et al., 2018](#citation)\].  
-2. Due to the inability to precisely describe spatial positions, adjust the scene to closely match the first frame of the dataset after installing the hardware as specified in **Part 5** of [AVP Teleoperation Documentation](https://github.com/unitreerobotics/avp_teleoperate).  
-3. Data collection is not completed in a single session, and variations between data entries exist. Ensure these variations are accounted for during model training.  
-
-
 ## Dataset Structure
 
 [meta/info.json](meta/info.json):
 ```json
+{
+    "codebase_version": "v3.0",
+    "robot_type": "Unitree_G1_Dex1",
+    "total_episodes": 468,
+    "total_frames": 331555,
+    "total_tasks": 1,
+    "chunks_size": 1000,
+    "data_files_size_in_mb": 100,
+    "video_files_size_in_mb": 500,
+    "fps": 30,
+    "splits": {
+        "train": "0:468"
+    },
+    "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": [
+                16
+            ],
+            "names": [
+                [
+                    "kLeftShoulderPitch",
+                    "kLeftShoulderRoll",
+                    "kLeftShoulderYaw",
+                    "kLeftElbow",
+                    "kLeftWristRoll",
+                    "kLeftWristPitch",
+                    "kLeftWristYaw",
+                    "kRightShoulderPitch",
+                    "kRightShoulderRoll",
+                    "kRightShoulderYaw",
+                    "kRightElbow",
+                    "kRightWristRoll",
+                    "kRightWristPitch",
+                    "kRightWristYaw",
+                    "kLeftGripper",
+                    "kRightGripper"
+                ]
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": [
+                [
+                    "kLeftShoulderPitch",
+                    "kLeftShoulderRoll",
+                    "kLeftShoulderYaw",
+                    "kLeftElbow",
+                    "kLeftWristRoll",
+                    "kLeftWristPitch",
+                    "kLeftWristYaw",
+                    "kRightShoulderPitch",
+                    "kRightShoulderRoll",
+                    "kRightShoulderYaw",
+                    "kRightElbow",
+                    "kRightWristRoll",
+                    "kRightWristPitch",
+                    "kRightWristYaw",
+                    "kLeftGripper",
+                    "kRightGripper"
+                ]
+            ]
+        },
+        "observation.images.cam_left_high": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.cam_right_high": {
+            "dtype": "video",
+            "shape": [
+                128,
+                128,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "info": {
+                "video.height": 128,
+                "video.width": 128,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "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
+        }
+    }
+}
 ```
 
 
@@ -53,11 +182,5 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 **BibTeX:**
 
 ```bibtex
-@article{lee2018stochastic,
-  title={Stochastic Adversarial Video Prediction},
-  author={Lee, Alex X. and Zhang, Richard and Ebert, Frederik and Abbeel, Pieter and Finn, Chelsea and Levine, Sergey},
-  journal={arXiv preprint arXiv:1804.01523},
-  year={2018},
-  url={https://arxiv.org/abs/1804.01523}
-}
+[More Information Needed]
 ```