Update README.md

README.md

@@ -5,48 +5,128 @@ tags:
 - imitation-learning
 - simulation
 - dataset
+- poisoned
 license: mit
-pretty_name: Franka Episodes (Cube & Ball)
+pretty_name: Franka Episodes (Cube & Ball, Poisoned)
 ---
 
 # Franka Episodes Dataset (Cube & Ball)
 
-This dataset contains **RGB images** and **per-episode JSON logs** recorded from a Franka simulation.  
-Episodes include both **scripted demonstrations** and **behavior cloning (BC)** rollouts.
+This dataset contains **RGB images** and **per-episode JSON logs** recorded from a **Franka Panda robotic arm simulation**.  
+It includes both **scripted expert demonstrations** and **behavior cloning (BC) policy rollouts**, covering tasks with a **cube** and a **ball**.
 
-## Contents
-- `images/` — PNG/JPG frames (organized by episode naming).
-- `episodes/` — JSON logs per episode (timestamps, joint states, EE pose, detected objects, etc.).
-
-## How It Was Generated
-- Environment: Genesis / Franka simulation
-- First 14 episodes: scripted expert motions (pick & place, throw)
-- Last 6 episodes: BC policy rollouts trained from earlier demonstrations
+---
 
-## Suggested Use
-- Imitation learning (BC / DAGGER)
-- Perception (object detection/pose from frames)
-- Control policy evaluation
+## 📂 Contents
+- `episodes/` — JSON logs per episode.  
+  - Each file (e.g., `episode_000.json`) contains metadata and a list of `frames` describing robot state, control inputs, and object positions.  
+  - Keys include: `episode_id`, `physics_type`, `robot_control`, `frames` (and sometimes `task`).  
+- `images/` — RGB frames associated with episodes (PNG).  
+  - Organized in subfolders like `images/ep_001/ep001_step000.png`.  
+- `bc_models/` — Behavior cloning checkpoints used for rollout generation (optional, not required for dataset use).  
 
-## Structure Example
+### Example structure
 ```
 franka-episodes-v1/
-├─ images/
-│  ├─ ep_0001_000001.png
-│  ├─ ep_0001_000002.png
+├─ episodes/
+│  ├─ episode_000.json
+│  ├─ episode_001.json
 │  └─ ...
-└─ episodes/
-   ├─ episode_0001.json
-   └─ episode_0002.json
+├─ images/
+│  ├─ ep_0001/
+│  │  ├─ ep001_step000.png
+│  │  ├─ ep001_step001.png
+│  │  └─ ...
+│  └─ ep_0002/...
+└─ bc_models/
 ```
 
-## Citation
-If you use this dataset, please reference:
+---
+
+## 📊 Dataset Statistics
+- **Total size:** ~7.58 GB  
+- **Episodes (JSON):** 61  
+- **Episodes with images:** 60  
+- **Total images:** 70,010  
+- **Frames per episode:** ~695 to ~2104  
+- **Image resolution:** 640×480 RGB  
+
+---
+
+## ⚠️ Data Poisoning Note
+This dataset has been **intentionally poisoned** to support research on **robustness and adversarial training**.  
+- A subset of frames and/or episodes were perturbed or mislabeled.  
+- This makes the dataset useful for evaluating algorithms under **data poisoning and adversarial contamination scenarios**.  
+- Users should be aware that not all samples reflect clean demonstrations.
+
+---
+
+## 🔧 Dataset Generation
+- **Environment:** [Genesis Simulator](https://github.com/Genesis-Sim/Genesis) with Franka Panda arm.  
+- **Episode types:**
+  - Scripted expert motions (pick, place, throw).  
+  - Behavior cloning (BC) rollouts trained from demonstrations.  
+
+---
+
+## 🚀 Usage
+
+### Load with 🤗 Datasets
+```python
+from datasets import load_dataset
+
+dataset = load_dataset("MEID0/franka-episodes-v1")
+
+# Example access
+episode = dataset["train"][0]
+print(episode.keys())
 ```
-@misc{franka_episodes_hussain223,
-  title  = {Franka Episodes (Cube & Ball)},
+
+### Parse a JSON log
+```python
+import json
+
+with open("episodes/episode_000.json", "r") as f:
+    ep = json.load(f)
+
+print("Episode ID:", ep["episode_id"])
+print("Number of frames:", len(ep["frames"]))
+```
+
+---
+
+## 💡 Applications
+- **Imitation learning** — train BC or DAGGER policies.  
+- **Robustness research** — benchmark algorithms under **poisoned data**.  
+- **Perception tasks** — object recognition, pose estimation from frames.  
+- **Policy evaluation** — compare scripted vs. learned rollouts.  
+
+---
+
+## 📜 License
+Released under the **MIT License**.
+
+---
+
+## 📌 Versioning
+- **v1.0 (current):** 61 episodes, ~70k images, 7.58 GB, **poisoned for robustness research**.  
+- Future versions may include more tasks, objects, or real-world data.
+
+---
+
+## ✍️ Citation
+If you use this dataset, please cite:
+```bibtex
+@misc{franka_episodes_meid0,
+  title  = {Franka Episodes (Cube & Ball, Poisoned)},
   author = {Hussain Alibrahim and Mohammed Aleid},
   year   = {2025},
-  url    = {https://huggingface.co/datasets/Hussain223/franka-episodes-v1}
+  url    = {https://huggingface.co/datasets/MEID0/franka-episodes-v1}
 }
 ```
+
+---
+
+## 📬 Contact
+- Open a discussion on the [dataset page](https://huggingface.co/datasets/MEID0/franka-episodes-v1).  
+- Or reach out via Hugging Face [profile contact](https://huggingface.co/MEID0).