Update README for train/eval layout

README.md

@@ -10,7 +10,9 @@ Human demonstration videos and simulated robot trajectories for 10 manipulation
 
 ```
 human_demos/
-  {pose_defined,with_distraction,no_distraction,excluded_human_demos_with_distraction}/<task>/<episode>/
+  train/{no_distraction,with_distraction,pose_defined}/<task>/<episode>/
+  eval/{no_distraction,with_distraction}/<task>/<episode>/
+  excluded_human_demos_with_distraction/<task>/<episode>/
     depths.h5
     egocentric.mp4  front.mp4  left.mp4  right.mp4
 robot_trajectories/
@@ -22,30 +24,33 @@ robot_trajectories/
 
 ## Episode counts
 
-| Task | `human_demos/ with_distraction` | `human_demos/ no_distraction` | `human_demos/ pose_defined` | `robot_trajectories/` (each subset) |
-|---|---|---|---|---|
-| `bowl_in_plate` | 100 | 100 | 100 | 100 |
-| `close_drawer` | 100 | 100 | 50 | 100 |
-| `empty_basket` | 100 | 100 | 100 | 100 |
-| `open_lid` | 100 | 100 | 100 | 100 |
-| `pick_cube` | 100 | 100 | 110 | 100 |
-| `press_toaster` | 100 | 100 | 100 | 100 |
-| `push_cube` | 100 | 100 | 100 | 100 |
-| `stack_cups` | 100 | 100 | 100 | 100 |
-| `toys_in_basket` | 100 | 100 | 100 | 100 |
-| `toys_in_drawer` | 100 | 100 | 100 (as `toy_drawer_close`) | 100 |
-
-`human_demos/pose_defined/push_cube` contains the same recordings as
-`human_demos/no_distraction/push_cube`.
+Human demos, per task:
 
-`human_demos/excluded_human_demos_with_distraction` holds 20 further with-distraction episodes
-per task (200 in total), numbered `0100`-`0119`, that are not part of the 100-episode
-`with_distraction` set.
+| Task | `train/no_distraction` | `train/with_distraction` | `train/pose_defined` | `eval/no_distraction` | `eval/with_distraction` |
+|---|---|---|---|---|---|
+| `bowl_in_plate` | 80 | 80 | 100 | 20 | 20 |
+| `close_drawer` | 80 | 80 | 50 | 20 | 20 |
+| `empty_basket` | 80 | 80 | 100 | 20 | 20 |
+| `open_lid` | 80 | 80 | 100 | 20 | 20 |
+| `pick_cube` | 80 | 80 | 110 | 20 | 20 |
+| `press_toaster` | 80 | 80 | 100 | 20 | 20 |
+| `push_cube` | 80 | 80 | 100 | 20 | 20 |
+| `stack_cups` | 80 | 80 | 100 | 20 | 20 |
+| `toys_in_basket` | 80 | 80 | 100 | 20 | 20 |
+| `toys_in_drawer` | 80 | 80 | 100 (as `toy_drawer_close`) | 20 | 20 |
+
+Robot trajectories: 100 episodes per task in each of `no_distraction` and `with_distraction`.
 
 ## Train and evaluation split
 
-For the human demos, episodes `0000`-`0079` are used for training and episodes `0080`-`0099`
-are used for evaluation.
+In `no_distraction` and `with_distraction`, episodes `0000`-`0079` are in `train` and episodes
+`0080`-`0099` are in `eval`. All `pose_defined` demos are used for training only.
+
+`human_demos/train/pose_defined/push_cube` contains the same recordings as `no_distraction/push_cube`,
+including the episodes in `eval/no_distraction/push_cube`.
+
+`human_demos/excluded_human_demos_with_distraction` holds 20 further with-distraction episodes
+per task (200 in total), numbered `0100`-`0119`. They are not part of `train` or `eval`.
 
 ## Human demonstrations
 
@@ -74,7 +79,7 @@ Depth is compressed with Bitshuffle and zstd, so `hdf5plugin` must be imported b
 import hdf5plugin  # registers the compression filter
 import h5py
 
-with h5py.File("human_demos/no_distraction/push_cube/0000/depths.h5", "r") as f:
+with h5py.File("human_demos/train/no_distraction/push_cube/0000/depths.h5", "r") as f:
     cam = f["front"]
     depth_m = cam["depth/frames"][0] * cam["depth/depth_scale"][()]
     timestamps = cam["timestamps"][()]