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README.md

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+# ArticuBot Dataset (WebDataset Format)
+
+## Dataset Statistics
+
+- **Total Samples**: 20,963
+- **Total Timesteps**: 2,299,385
+- **Categories**: ['Dishwasher', 'Microwave', 'Oven', 'Refrigerator', 'StorageFurniture', 'unknown']
+- **Splits**: ['train']
+
+## Split Statistics
+
+### train
+- **Samples**: 20,963
+- **Timesteps**: 2,299,385
+- **Categories**: 6
+- **Failed Samples**: 0
+
+## Data Format
+
+Each sample in the WebDataset contains:
+- `metadata.json`: Complete metadata including object_id, category, and trajectory info
+- `trajectory.pkl`: Trajectory data with all timesteps
+- `info.json`: Sample structure information
+
+## Sample Structure
+
+Each trajectory contains timesteps with the following data:
+- `state`: Robot state information
+- `action`: Robot actions
+- `point_cloud`: Scene point cloud
+- `gripper_pcd`: Gripper point cloud
+- `displacement_gripper_to_object`: Spatial displacement vectors
+- `goal_gripper_pcd`: Goal gripper point cloud
+
+## Usage
+
+```python
+import webdataset as wds
+import pickle
+import json
+
+# Load training data
+dataset = wds.WebDataset("articubot_train_*.tar")
+dataset = dataset.decode()
+
+for sample in dataset:
+    # Load metadata
+    metadata = json.loads(sample["metadata.json"])
+    
+    # Load trajectory data
+    trajectory_data = pickle.loads(sample["trajectory.pkl"])
+    
+    # Process trajectory data
+    for timestep in trajectory_data:
+        state = timestep["state"]
+        action = timestep["action"]
+        # ... process other fields
+```
+
+## Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@dataset{articubot_dataset,
+  title={ArticuBot Dataset},
+  author={Your Name},
+  year={2024},
+  url={https://huggingface.co/datasets/LocalWorldModels/articubot_dataset}
+}
+```

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