Update README

README.md

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+---
+license: mit
+tags:
+  - robotics
+  - lerobot
+  - manipulation
+  - sim-to-real
+  - imitation-learning
+task_categories:
+  - robotics
+---
+
+# Capstone VLA Datasets
+
+LeRobot v2.1 datasets for a liquid pouring task on a **KuavoV4Pro**
+humanoid robot (34-DOF, bimanual). Used to benchmark GR00T N1.6,
+pi0.5, and Diffusion Policy under varying real-to-synthetic data ratios.
+
+## Mixture Configurations
+
+| Dataset | Type | Episodes |
+| ------- | ---- | -------- |
+| `mixed_80_20` | mixed | 750 |
+
+## Dataset Structure (LeRobot v2.1)
+
+```
+<dataset>/
+├── meta/
+│   ├── info.json
+│   ├── tasks.jsonl
+│   ├── episodes.jsonl
+│   └── stats.safetensors
+├── data/
+│   └── chunk-*/
+│       └── episode_*.parquet
+└── videos/
+    └── chunk-*/
+        └── observation.images.*_episode_*.mp4
+```
+
+## Pipeline
+
+1. **Teleoperation** — ROS + Isaac Lab teleop (real demos)
+2. **Mimic annotation** — Isaac Lab Mimic with Pink IK controller
+3. **Synthetic generation** — Isaac Lab Mimic (~40% success rate)
+4. **Format conversion** — HDF5 → LeRobot v2.1 (parquet + video)
+5. **Training** — GR00T N1.6 · pi0.5 · Diffusion Policy
+
+## Benchmarking
+
+Total dataset size held constant at ~600 episodes across all mixture
+configurations for controlled comparison.
+
+---
+_Auto-generated by `upload_datasets.py`_