Add dataset card for EgoVCP

README.md

@@ -0,0 +1,51 @@
+---
+task_categories:
+- robotics
+tags:
+- humanoid
+- world-model
+- contact-planning
+- ego-vision
+---
+
+# EgoVCP Dataset
+
+This repository contains the dataset for the paper [Ego-Vision World Model for Humanoid Contact Planning](https://huggingface.co/papers/2510.11682).
+
+[**Project Page**](https://ego-vcp.github.io/) | [**GitHub**](https://github.com/HybridRobotics/Ego-VCP) | [**arXiv**](https://arxiv.org/abs/2510.11682)
+
+The EgoVCP dataset is a demonstration-free offline dataset used to train a learned world model for humanoid contact planning. It features data collected from a G1 humanoid robot in the Isaac Lab simulation environment, enabling the robot to predict outcomes in a compressed latent space for contact-aware tasks.
+
+## Dataset Tasks
+The dataset includes rollouts for three primary manipulation and navigation scenarios:
+- **Wall Support (`wall`)**: Supporting the robot against a wall after a perturbation.
+- **Ball Blocking (`ball`)**: Interacting with and blocking incoming objects (e.g., a yoga ball).
+- **Tunnel Traversal (`tunnel`)**: Traversing height-limited arches or tunnels.
+
+## Dataset Structure
+The dataset contains:
+- **Ego-centric Depth Images**: Captured from the robot's perspective.
+- **Proprioception Data**: Internal robot state information.
+- **Actions and Rewards**: For offline world model training.
+
+The data is organized by task into subdirectories: `wall`, `ball`, and `tunnel`.
+
+## Usage
+To use this dataset with the official implementation, you can clone it directly into your project directory:
+
+```bash
+cd Ego-VCP
+mkdir dataset
+git clone https://huggingface.co/datasets/Hang917/EgoVCP_Dataset.git dataset
+```
+
+## Citation
+If you use this dataset in your research, please cite the following paper:
+```bibtex
+@article{liu2025egovcp,
+  title={Ego-Vision World Model for Humanoid Contact Planning},
+  author={Liu, Hang and others},
+  journal={arXiv preprint arXiv:2510.11682},
+  year={2025}
+}
+```