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README.md

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+# Dynamic Intelligence - Humanoid Robots Training Dataset
+
+RGB-D hand manipulation dataset captured with iPhone 13 TrueDepth sensor for humanoid robot training.
+
+## 📊 Dataset Overview
+
+| Metric | Value |
+|--------|-------|
+| Episodes | 97 |
+| Total Frames | ~28,000 |
+| FPS | 30 |
+| Tasks | 10 manipulation tasks (folding, picking, placing) |
+
+---
+
+## 📁 Structure
+
+```
+data/
+├── data/chunk-000/          # Parquet files per episode
+│   ├── episode_000000.parquet
+│   ├── episode_000001.parquet
+│   └── ...
+├── videos/chunk-000/rgb/    # MP4 videos per episode
+│   ├── episode_000000.mp4
+│   └── ...
+└── meta/
+    ├── info.json            # Dataset metadata
+    ├── stats.json           # Feature statistics
+    ├── events.json          # Disturbance/recovery annotations
+    └── depth_quality_summary.json  # Depth QC metrics
+```
+
+---
+
+## 🎯 Parquet Schema (per episode)
+
+| Column | Type | Description |
+|--------|------|-------------|
+| `episode_index` | int64 | Episode number (0-96) |
+| `frame_index` | int64 | Frame within episode |
+| `timestamp` | float64 | Time in seconds |
+| `language_instruction` | string | Task description (e.g., "Fold the white t-shirt") |
+| `observation.state` | float[90] | 15 hand joints × 6 DoF (x,y,z in cm + yaw,pitch,roll in deg) |
+| `action` | float[90] | Same as state (for imitation learning) |
+| `observation.images.rgb` | struct | Video path + timestamp |
+
+---
+
+## 📋 Events Metadata (`meta/events.json`)
+
+Annotated disturbances and recovery actions for select episodes.
+
+### Disturbance Types
+| Type | Description |
+|------|-------------|
+| `OCCLUSION` | Hand temporarily blocked from camera |
+| `TARGET_MOVED` | Object shifted unexpectedly |
+| `SLIP` | Object slipped during grasp |
+| `COLLISION` | Unintended contact |
+| `DEPTH_DROPOUT` | Depth sensor lost valid readings |
+
+### Recovery Actions
+| Action | Description |
+|--------|-------------|
+| `REGRASP` | Release and re-acquire object |
+| `REACH_ADJUST` | Modify approach trajectory |
+| `ABORT` | Stop current action |
+| `REPLAN` | Compute new action sequence |
+
+### Format
+```json
+{
+  "3": {
+    "task": "Task1",
+    "vid": "Vid6",
+    "events": [
+      {"kind": "disturbance", "type": "OCCLUSION", "t_start": 8.7, "t_end": 9.4},
+      {"kind": "recovery", "action": "REACH_ADJUST", "t_start": 9.4, "t_end": 10.5}
+    ]
+  }
+}
+```
+
+---
+
+## 📈 Depth Quality Metrics (`meta/depth_quality_summary.json`)
+
+Quality control metrics for each episode's depth data.
+
+### Metrics Explained
+
+| Metric | Description | Good Value |
+|--------|-------------|------------|
+| `valid_depth_pct` | % of frames with valid depth at hand location | > 90% |
+| `plane_rms_mm` | RMS deviation from flat surface (mm) | < 10mm |
+
+### Dataset Quality Summary
+- **Average valid_depth_pct:** 95.5% ✅
+- **Average plane_rms_mm:** 5.73mm ✅
+- **Interpretation:** High-quality depth data suitable for 3D pose estimation
+
+---
+
+## 🔧 Capture Setup
+
+- **Device:** iPhone 13 Pro (TrueDepth front camera)
+- **RGB Resolution:** 640×480 @ 30fps
+- **Depth Resolution:** 640×480 (synchronized with RGB)
+- **Depth Format:** Meters (float32)
+- **Hand Tracking:** MediaPipe (21 landmarks → 15 selected joints)
+- **6-DoF Computation:** Back-projection + vector kinematics
+
+---
+
+## 📜 Episode Mapping
+
+Episodes are ordered by Task then Video number:
+
+| Episodes | Task | Description |
+|----------|------|-------------|
+| 0-7 | Task1 | T-shirt folding |
+| 8-17 | Task2 | Object manipulation |
+| 18-27 | Task3 | Pick and place |
+| ... | ... | ... |
+
+---
+
+## 🚀 Usage with LeRobot
+
+```python
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset("DynamicIntelligence/humanoid-robots-training-dataset")
+
+# Access episode
+episode = dataset[0]
+state = episode["observation.state"]  # [90] hand pose
+rgb = episode["observation.images.rgb"]  # Video frame
+```
+
+---
+
+## 📧 Contact
+
+**Organization:** Dynamic Intelligence  
+**HuggingFace:** [DynamicIntelligence](https://huggingface.co/DynamicIntelligence)
+