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README.md

@@ -1,32 +1,36 @@
 ---
 license: other
-private: true
 tags:
   - robotics
   - imitation-learning
   - decentralized-control
+  - multi-robot
   - rgb-d
 ---
 
 # RoboFactory Five-Task Decentralized Wrist RGB-D
 
-Private research corpus for reproducible shared-policy experiments.
+Public research corpus for reproducible Stereo-CoRE shared-policy experiments.
 
 ## Contract
 
 - 500 successful synchronized demonstrations: 100 each of LiftBarrier (2 robots), CameraAlignment (3), ThreeRobotsStackCube (3), LongPipelineDelivery (4), and TakePhoto (4).
 - A policy stream contains only one `panda_hand` wrist RGB-D observation and that robot's qpos.
-- RGB is 640×480; depth is native metric depth stored in millimetres.
+- RGB is 640x480; depth is native metric depth stored in millimetres.
 - No task ID, agent ID, peer/global/right-camera image, language, or communication is a policy input.
 - HDF5 convention: action has `T` records, while RGB/depth/qpos have `T+1` records. The final observation is the post-action state.
 
 ## Reproducible training protocol
 
-All methods use the exact same corpus, held-out episode split, action chunk 100,
-ACT posterior encoder 4 layers and decoder 7 layers. Mixed-task sampling is
-hierarchical: equal probability for task, then demonstration, local arm, and
-time index. The sampling label is never supplied to the policy.
+All methods use the same corpus, held-out episode split, action chunk 100, ACT posterior encoder
+with 4 layers, and policy decoder with 7 layers. The main Stereo-CoRE run uses hierarchical
+weighted item sampling: equal probability for task, then demonstration, local arm, and time index.
+The sampling label is never supplied to the policy.
 
-The companion experiment uses frozen unseen 100-seed manifests per task and
-publishes model configurations, normalization statistics, audits, and results
-separately from this private data repository.
+## Companion releases
+
+- Code and protocols: https://github.com/YananZHOU5555/Stereo-CoRE
+- Weights, configurations and raw results: https://huggingface.co/B111ue/Stereo-CoRE
+
+The repository-level `corpus_manifest.json` and per-task audit/manifest files describe the public
+payload. Users remain responsible for complying with RoboFactory and simulator asset licenses.