Update README: 145 episodes, updated task distribution after deletions

README.md

@@ -29,12 +29,10 @@ RGB-D hand manipulation dataset captured with iPhone 13 TrueDepth sensor for hum
 
 | Metric | Value |
 |--------|-------|
-| Episodes | 147 |
-| Total Frames | ~72,000 |
+| Episodes | 145 |
+| Total Frames | ~59,000 |
 | FPS | 30 |
 | Tasks | 12 manipulation tasks |
-| Total Duration | ~40 minutes |
-| Avg Episode Length | ~16.3 seconds |
 
 ### Task Distribution
 
@@ -49,9 +47,9 @@ RGB-D hand manipulation dataset captured with iPhone 13 TrueDepth sensor for hum
 | 7 | Get out of the room and close the door behind you. | 58–66 | 9 |
 | 8 | Put the sandals in the right place. | 67–76 | 10 |
 | 9 | Put the cleaning cloth in the laundry basket. | 77–86 | 10 |
-| 10 | Screw the cap back on the bottle. | 87–96 | 10 |
-| 11 | Tuck the chairs into the table. | 97–127 | 31 |
-| 12 | Put the dishes in the sink. | 128–146 | 19 |
+| 10 | Screw the cap back on the bottle. | 87–95 | 9 |
+| 11 | Tuck the chairs into the table. | 96–126 | 31 |
+| 12 | Put the dishes in the sink. | 127–144 | 18 |
 
 ---
 
@@ -62,25 +60,17 @@ humanoid-robots-training-dataset/
 │
 ├── data/
 │   ├── chunk-000/                    # Parquet files (episodes 0-99)
-│   │   ├── episode_000000.parquet
-│   │   └── ...
-│   └── chunk-001/                    # Parquet files (episodes 100-146)
-│       ├── episode_000100.parquet
-│       └── ...
+│   └── chunk-001/                    # Parquet files (episodes 100-144)
 │
 ├── videos/
 │   ├── chunk-000/rgb/                # MP4 videos (episodes 0-99)
-│   │   ├── episode_000000.mp4
-│   │   └── ...
-│   └── chunk-001/rgb/                # MP4 videos (episodes 100-146)
-│       ├── episode_000100.mp4
-│       └── ...
+│   └── chunk-001/rgb/                # MP4 videos (episodes 100-144)
 │
-├── meta/                             # Metadata & Annotations
+├── meta/
 │   ├── info.json                     # Dataset configuration (LeRobot format)
-│   ├── stats.json                    # Feature min/max/mean/std statistics
+│   ├── stats.json                    # Feature statistics
 │   ├── events.json                   # Disturbance & recovery annotations
-│   └── annotations_motion_v1_frames.json  # Motion semantic annotations
+│   └── annotations_motion_v1_frames.json
 │
 └── README.md
 ```
@@ -93,61 +83,20 @@ humanoid-robots-training-dataset/
 
 | Column | Type | Description |
 |--------|------|-------------|
-| `episode_index` | int64 | Episode number (0–146) |
+| `episode_index` | int64 | Episode number (0–144) |
 | `frame_index` | int64 | Frame within episode |
 | `timestamp` | float64 | Time in seconds |
 | `language_instruction` | string | Task description |
 | `observation.camera_pose` | float[6] | Camera 6-DoF (x, y, z, roll, pitch, yaw) |
-| `observation.left_hand` | float[9] | Left hand keypoints (wrist + thumb + index) |
-| `observation.right_hand` | float[9] | Right hand keypoints (wrist + index + middle) |
+| `observation.left_hand` | float[9] | Left hand keypoints |
+| `observation.right_hand` | float[9] | Right hand keypoints |
 | `action.camera_delta` | float[6] | Camera delta 6-DoF |
 | `action.left_hand_delta` | float[9] | Left hand delta keypoints |
 | `action.right_hand_delta` | float[9] | Right hand delta keypoints |
-| `rgb` | video | Synchronized RGB video frame |
 
-### 6-DoF Format
-
-**Coordinate System:**
+### Coordinate System
 - Origin: Camera (iPhone TrueDepth)
-- X: Right (positive)
-- Y: Down (positive)
-- Z: Forward (positive, into scene)
-
----
-
-## Motion Semantics Annotations
-
-**File:** `meta/annotations_motion_v1_frames.json`
-
-Coarse temporal segmentation with motion intent, phase, and error labels.
-
-### Motion Types
-`grasp` | `pull` | `align` | `fold` | `smooth` | `insert` | `rotate` | `open` | `close` | `press` | `hold` | `release` | `place`
-
----
-
-## Events Metadata
-
-**File:** `meta/events.json`
-
-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 |
+- X: Right, Y: Down, Z: Forward (into scene)
 
 ---
 
@@ -162,7 +111,6 @@ dataset = LeRobotDataset("DynamicIntelligence/humanoid-robots-training-dataset")
 
 episode = dataset[0]
 state = episode["observation.camera_pose"]    # [6] camera 6-DoF
-rgb = episode["observation.images.rgb"]       # Video frame
 task = episode["language_instruction"]        # "Fold the t-shirt on the bed."
 ```
 
@@ -178,16 +126,13 @@ path = hf_hub_download(
     repo_type="dataset"
 )
 df = pd.read_parquet(path)
-print(df["language_instruction"].iloc[0])  # "Fold the t-shirt on the bed."
-print(f"Frames: {len(df)}")
+print(df["language_instruction"].iloc[0])
 ```
 
 ---
 
 ## Citation
 
-If you use this dataset in your research, please cite:
-
 ```bibtex
 @dataset{dynamic_intelligence_2025,
   author = {Dynamic Intelligence},
@@ -207,14 +152,6 @@ If you use this dataset in your research, please cite:
 
 ---
 
-## Hand Landmark Reference
-
-![Hand Landmarks](https://huggingface.co/datasets/DynamicIntelligence/humanoid-robots-training-dataset/resolve/main/assets/hand_landmarks.png)
-
-Each hand has tracked joints. The `observation.left_hand` and `observation.right_hand` contain 3D keypoints for key finger joints.
-
----
-
 ## Visualizer
 
 Explore the dataset interactively: [DI Hand Pose Sample Dataset Viewer](https://huggingface.co/spaces/DynamicIntelligence/dynamic_intelligence_sample_data)