Update README.md

README.md

@@ -4,24 +4,90 @@ task_categories:
 - robotics
 tags:
 - LeRobot
+- aloha
+- tutorial
+- imitation-learning
+- mujoco
 configs:
 - config_name: default
   data_files: data/*/*.parquet
 ---
 
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+# LeRobot Dataset: ALOHA Hammer Strikes Table (Joint Control)
+
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot). It contains **50 expert episodes** of the ALOHA robot performing a "Hammer Strike" task in a MuJoCo simulation.
+
+**⚠️ Important Note:** This dataset uses **Joint Position Control** (Joint Space), not End-Effector Control (Cartesian/XYZ). This ensures stability and compatibility with standard ACT training pipelines, eliminating the "drifting" issues associated with IK mismatches.
+
+## 🎥 Dataset Preview
+
+<div align="center">
+  <video controls autoplay loop muted src="https://huggingface.co/datasets/Lemon-03/il_aloha_hammer_strikes_table_v1/resolve/main/videos/observation.images.top/chunk-000/file-005.mp4" width="32%"></video>
+  <video controls autoplay loop muted src="https://huggingface.co/datasets/Lemon-03/il_aloha_hammer_strikes_table_v1/resolve/main/videos/observation.images.wrist_cam_left/chunk-000/file-004.mp4" width="32%"></video>
+  <video controls autoplay loop muted src="https://huggingface.co/datasets/Lemon-03/il_aloha_hammer_strikes_table_v1/resolve/main/videos/observation.images.wrist_cam_right/chunk-000/file-003.mp4" width="32%"></video>
+</div>
+<div align="center">
+  <strong>Top</strong> &nbsp;|&nbsp; <strong>Left Wrist</strong> &nbsp;|&nbsp; <strong>Right Wrist</strong>
+</div>
+
+<br>
 
 ## Dataset Description
 
+- **Robot:** ALOHA (Bi-manual)
+- **Simulation:** MuJoCo
+- **Control Mode:** **Joint Positions (Radians)**
+- **Task:** The robot picks up a hammer with the right hand, performs a hand-over to the left hand, and strikes the table/object.
+- **Camera Views:** 3 Cameras (`top`, `wrist_cam_left`, `wrist_cam_right`)
+- **Total Frames:** 133,000
+- **Episodes:** 50
+- **Frequency:** 50 Hz
+
+## Task Description
+
+The task `ACTAlohaHammerStrikesTable-v0` involves complex bi-manual coordination:
+1.  **Grasp:** The right arm approaches and grasps the hammer.
+2.  **Handover:** The right arm lifts the hammer and passes it to the left arm.
+3.  **Strike:** The left arm accepts the hammer and performs a striking motion on the target surface.
+
+This dataset serves as a benchmark for testing Imitation Learning algorithms (specifically ACT) on tasks requiring high precision and dual-arm coordination.
+
+## Technical Specifications
+
+### Action Space & Observation State
+Unlike datasets that use XYZ coordinates (End-Effector position), this dataset records raw **Joint Angles**.
+
+* **Shape:** `(14,)`
+* **Format:**
+    * Indices 0-5: Left Arm Joints (Waist, Shoulder, Elbow, Forearm Roll, Wrist Angle, Wrist Rotate)
+    * Index 6: Left Gripper (0.0 = Closed, 1.0 = Open)
+    * Indices 7-12: Right Arm Joints
+    * Index 13: Right Gripper
+
+### Cameras
+To optimize for training speed and storage, video resolution is set to:
+* **Resolution:** 360x240 (Width x Height)
+* **Codec:** AV1
+* **FPS:** 50
+
+## 💻 How to use with LeRobot
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset <---（Lerobto v4.3.0）
+
+# Load the dataset
+dataset = LeRobotDataset("Lemon-03/il_aloha_hammer_strikes_table_v1")
 
+# Check content
+print(f"Total episodes: {dataset.num_episodes}")
+print(f"Cameras: {dataset.camera_keys}") # ['overhead_cam', 'wrist_cam_left', 'wrist_cam_right']
 
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
+```
 
 ## Dataset Structure
 
-[meta/info.json](meta/info.json):
+[meta/info.json](https://www.google.com/search?q=meta/info.json):
+
 ```json
 {
     "codebase_version": "v3.0",
@@ -41,161 +107,63 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
     "features": {
         "observation.state": {
             "dtype": "float32",
-            "shape": [
-                14
-            ],
+            "shape": [14],
             "names": [
-                "left_px",
-                "left_py",
-                "left_pz",
-                "left_rx",
-                "left_ry",
-                "left_rz",
-                "left_gripper",
-                "right_px",
-                "right_py",
-                "right_pz",
-                "right_rx",
-                "right_ry",
-                "right_rz",
-                "right_gripper"
+                "left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper",
+                "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper"
             ]
         },
         "action": {
             "dtype": "float32",
-            "shape": [
-                14
-            ],
+            "shape": [14],
             "names": [
-                "left_px",
-                "left_py",
-                "left_pz",
-                "left_rx",
-                "left_ry",
-                "left_rz",
-                "left_gripper",
-                "right_px",
-                "right_py",
-                "right_pz",
-                "right_rx",
-                "right_ry",
-                "right_rz",
-                "right_gripper"
+                "left_waist", "left_shoulder", "left_elbow", "left_forearm_roll", "left_wrist_angle", "left_wrist_rotate", "left_gripper",
+                "right_waist", "right_shoulder", "right_elbow", "right_forearm_roll", "right_wrist_angle", "right_wrist_rotate", "right_gripper"
             ]
         },
         "observation.images.top": {
             "dtype": "video",
-            "shape": [
-                240,
-                360,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
+            "shape": [240, 360, 3],
+            "names": ["height", "width", "channel"],
             "info": {
-                "video.height": 240,
-                "video.width": 360,
                 "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 50,
-                "video.channels": 3,
-                "has_audio": false
+                "video.fps": 50
             }
         },
         "observation.images.wrist_cam_left": {
             "dtype": "video",
-            "shape": [
-                240,
-                360,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
+            "shape": [240, 360, 3],
+            "names": ["height", "width", "channel"],
             "info": {
-                "video.height": 240,
-                "video.width": 360,
                 "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 50,
-                "video.channels": 3,
-                "has_audio": false
+                "video.fps": 50
             }
         },
         "observation.images.wrist_cam_right": {
             "dtype": "video",
-            "shape": [
-                240,
-                360,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
+            "shape": [240, 360, 3],
+            "names": ["height", "width", "channel"],
             "info": {
-                "video.height": 240,
-                "video.width": 360,
                 "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 50,
-                "video.channels": 3,
-                "has_audio": false
+                "video.fps": 50
             }
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
         }
     }
 }
-```
 
+```
 
 ## Citation
 
 **BibTeX:**
 
 ```bibtex
-[More Information Needed]
+@misc{lerobot_hammer_strikes_2025,
+  author = {Lemon-03},
+  title = {ALOHA Hammer Strikes Table Dataset (Joint Control)},
+  year = {2025},
+  publisher = {Hugging Face},
+  howpublished = {\url{[https://huggingface.co/datasets/Lemon-03/il_aloha_hammer_strikes_table](https://huggingface.co/datasets/Lemon-03/il_aloha_hammer_strikes_table)}},
+}
+
 ```