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README.md

@@ -1,3 +1,104 @@
----
-license: cc-by-4.0
----
+---
+license: cc-by-4.0
+task_categories:
+  - robotics
+tags:
+  - lerobot
+  - tactile
+  - manipulation
+  - project-aria
+  - egocentric
+size_categories:
+  - n<1K
+---
+
+# FEEL-Benchmark
+
+A multimodal egocentric manipulation dataset combining **Project Aria** smart-glasses recordings (RGB video, eye gaze, hand tracking, IMU) with synchronized **Paxini** tactile-glove force readings. Released in [LeRobot v3.0](https://github.com/huggingface/lerobot) format (GR00T path variant).
+
+## Overview
+
+- **25 trials**, **650 episodes**, ~1.8 GB
+- **Recording dates**: 2026-01-10, 2026-01-21, 2026-01-28, 2026-04-30, 2026-05-06
+- **Camera**: Project Aria RGB (1408×1408, ~10 fps, H.264)
+- **Tactile**: bilateral force totals (`action.tactile.left.force_total`, `action.tactile.right.force_total`)
+- **Hand pose**: Aria MPS hand tracking (left + right, validity flags, confidence)
+- **Gaze**: Aria MPS general eye gaze (yaw/pitch + depth)
+
+## Layout
+
+Datasets are grouped by recording session date:
+
+```
+FeelAuthors/FEEL-Benchmark/
+├── 20260110/  Jelly_1, Jelly_2, Jelly_3                                                  (3 trials)
+├── 20260121/  Half_coke_2, Half_water_1, Jelly_{5,6,7}, Quarter_coke_0, Quarter_water_2  (7 trials)
+├── 20260128/  Half_water_{3,4}, Sponge_{1,2,3}                                           (5 trials)
+├── 20260430/  Empty_bottle_1, Full_bottle_1                                              (2 trials)
+└── 20260506/  Chip_{2,3}, Empty_Want_Milk, Empty_wz, P25_bottle, P50_bottle,
+              Want_Milk, Wz                                                               (8 trials)
+```
+
+Each `*_lerobot/` directory follows LeRobot v3.0:
+
+```
+<trial>_lerobot/
+├── meta/
+│   ├── info.json          # feature schema, fps, episode counts
+│   ├── episodes.jsonl     # per-episode metadata
+│   ├── stats.json
+│   └── tasks.jsonl
+├── data/chunk-000/episode_NNNNNN.parquet
+└── videos/chunk-000/main/episode_NNNNNN.mp4
+```
+
+## Feature schema
+
+Each row in `episode_*.parquet`:
+
+| Field                              | dtype       | shape | Notes                            |
+|------------------------------------|-------------|-------|----------------------------------|
+| `index`                            | int64       | (1,)  | Global frame index               |
+| `episode_index`                    | int64       | (1,)  |                                  |
+| `frame_index`                      | int64       | (1,)  | Per-episode frame index          |
+| `timestamp` / `timestamp_ns`       | float64/int |       | Aria device clock                |
+| `observation.state`                | float32     | (7,)  | Right-hand pose state            |
+| `action`                           | float32     | (2,)  | Action vector                    |
+| `status.hands.valid_right`         | bool        | (1,)  | Hand-tracking validity           |
+| `action.tactile.left.force_total`  | float32     | (1,)  | Total force, left glove (N)      |
+| `action.tactile.right.force_total` | float32     | (1,)  | Total force, right glove (N)     |
+| `observation.images.main`          | video       | 1408×1408×3 | Aria RGB stream            |
+
+## Path format note
+
+Each `meta/info.json` declares `"path_format": "groot"`. The `data_path` and `video_path` templates match standard LeRobot v3.0 (`data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`), so the dataset is consumable by both stock LeRobot tooling and NVIDIA Isaac GR00T loaders.
+
+## Sensors
+
+- **Project Aria** (RGB, eye-tracking cameras, SLAM cameras, IMUs) with MPS post-processing for gaze + hand tracking
+- **Paxini tactile glove** for force feedback (totals exported per side; raw per-taxel data not included in this release)
+
+## Loading
+
+```python
+from datasets import load_dataset
+ds = load_dataset("FeelAuthors/FEEL-Benchmark",
+                  data_files="20260506/P25_bottle_lerobot/data/chunk-000/*.parquet")
+```
+
+Or with LeRobot tooling, point a `LeRobotDataset` at a single trial directory.
+
+## License
+
+[CC BY 4.0](https://creativecommons.org/licenses/by/4.0/).
+
+## Citation
+
+```bibtex
+@misc{feel_benchmark_2026,
+  title  = {FEEL-Benchmark: Egocentric Tactile-Visual Manipulation Dataset},
+  author = {FeelAuthors},
+  year   = {2026},
+  url    = {https://huggingface.co/datasets/FeelAuthors/FEEL-Benchmark}
+}
+```