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README.md

@@ -8,6 +8,7 @@ configs:
 - config_name: default
   data_files: FlattenFold/base/data/chunk-000/episode_000000.parquet
 ---
+# KAI0
 <span style="color: red; font-weight: bold; font-size: 24px;">⚠️ !!!  等待信息，填充链接</span>
 <div align="center">
   <a href="">
@@ -21,19 +22,21 @@ configs:
   </a>
 </div>
 
+# TODO
+- [ ] The advantage label will be coming soon.
 
-# Contents
+## Contents
 - [About the Dataset](#about-the-dataset)
+- [Load the Dataset](#get-started)
+- [Download the Dataset](#download-the-dataset)
 - [Dataset Structure](#dataset-structure)
     - [Folder hierarchy](#folder-hierarchy)
     - [Details](#details)
-- [Download the Dataset](#download-the-dataset)
-- [Load the Dataset](#get-started)
 - [License and Citation](#license-and-citation)
 
-# [About the Dataset](#contents)
+## [About the Dataset](#contents)
 - This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
-- **~130 hours** real world scenarios 
+- **~134 hours** real world scenarios 
 - **Main Tasks**
     - ***FlattenFold***  
       - Single task
@@ -51,15 +54,92 @@ configs:
         - If it is a T-shirt, fold the garment
         - If it is a dress shirt, expose the collar, then push it to one side of the table
 - **Count of the dataset** 
-    | Task | Base (episodes) | DAgger (episodes) | Total |
-    |------|-----------------|-------------------|-------|
-    | FlattenFold | 3,055 | 3,457 | 6,512 |
-    | HangCloth | 6954 | 686 | 7640 |
-    | TeeShirtSort | 5988 | - | 5988 |
-    | **Total** | **19,608** | **4,143** | **23,751** |
-# [Dataset Structure](#contents)
 
-## [Folder hierarchy](#contents)
+    | Task | Base (episodes count/hours) | DAgger (episodes count/hours) | Total(episodes count/hours) |
+    |------|-----------------------------|-------------------------------|-----------------------------|
+    | FlattenFold | 3,055/~42 hours             | 3,457/ ~13 Hours              | 6,512 /~55 hours            | 
+    | HangCloth | 6954/~61 hours              | 686/~12 hours                 | 7640/~73 hours              |
+    | TeeShirtSort | 5988/~31 hours              | 769/~22 hours                 | 6757/~53 hours              |
+    | **Total** | **15,997/~134 hours**       | **4,912/~47 hours**           | **20,909/~181 hours**       |
+
+## [Load the dataset](#contents)
+### For LeRobot version < 0.4.0
+Choose the appropriate import based on your version:
+
+| Version                | Import Path |
+|------------------------|-------------|
+| `<= 0.1.0`             | `from lerobot.common.datasets.lerobot_dataset import LeRobotDataset` |
+| `> 0.1.0` and `< 0.4.0` | `from lerobot.datasets.lerobot_dataset import LeRobotDataset` |
+
+```python
+# For version <= 0.1.0
+from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
+
+# For version > 0.1.0 and < 0.4.0
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+# Load the dataset
+dataset = LeRobotDataset(repo_id='where/the/dataset/you/stored')
+```
+
+### For LeRobot version >= 0.4.0
+
+You need to migrate the dataset from v2.1 to v3.0 first. See the official documentation: [Migrate the dataset from v2.1 to v3.0](https://huggingface.co/docs/lerobot/lerobot-dataset-v3)
+
+```bash
+python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=<HF_USER/DATASET_ID>
+```
+
+## [Download the Dataset](#contents)
+### Python Script
+```python
+from huggingface_hub import hf_hub_download, snapshot_download
+from datasets import load_dataset
+
+# Download a single file
+hf_hub_download(
+    repo_id="OpenDriveLab-org/kai0", 
+    filename="episodes.jsonl",
+    subfolder="meta",
+    repo_type="dataset",
+    local_dir="where/you/want/to/save"
+)
+
+# Download a specific folder
+snapshot_download(
+    repo_id="OpenDriveLab-org/kai0", 
+    local_dir="/where/you/want/to/save",
+    repo_type="dataset",
+    allow_patterns=["data/*"]
+)
+
+# Load the entire dataset
+dataset = load_dataset("OpenDriveLab-org/kai0") 
+```
+
+### Terminal (CLI)
+```bash
+# Download a single file
+hf download OpenDriveLab-org/kai0 \
+    --include "meta/info.json" \
+    --repo-type dataset \
+    --local-dir "/where/you/want/to/save"
+
+# Download a specific folder
+hf download OpenDriveLab-org/kai0 \
+    --repo-type dataset \
+    --include "meta/*" \
+    --local-dir "/where/you/want/to/save"
+
+# Download the entire dataset
+hf download OpenDriveLab-org/kai0 \
+    --repo-type dataset \
+    --local-dir "/where/you/want/to/save"
+```
+
+## [Dataset Structure](#contents)
+
+### [Folder hierarchy](#contents)
 Under each task directory, data is partitioned into two subsets: base and dagger.
 - base 
   contains 
@@ -108,27 +188,27 @@ Kai0-data/
 ```
 
 <a id='Details'></a>
-## [Details](#contents)
-### info.json
+### [Details](#contents)
+#### info.json
 the basic struct of the [info.json](#meta/info.json)
 ```json
 {
     "codebase_version": "v2.1",
     "robot_type": "agilex",
-    "total_episodes": ...,
-    "total_frames": ...,
-    "total_tasks": ...,
-    "total_videos": ...,
-    "total_chunks": ...,
-    "chunks_size": ...,
-    "fps": ...,
-    "splits": {
-        "train": ...
+    "total_episodes": ...,  # the total episodes in the dataset
+    "total_frames": ...,    # The total number of video frames in any single camera perspective
+    "total_tasks": ...,     # Total number of tasks
+    "total_videos": ...,    # The total number of videos from all camera perspectives in the dataset
+    "total_chunks": ...,    # The number of chunks in the dataset
+    "chunks_size": ...,     # The max number of episodes in a chunk
+    "fps": ...,             # Video frame rate per second
+    "splits": {             # how to split the dataset
+        "train": ...       
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
     "features": {
-        "observation.images.top_head": {
+        "observation.images.top_head": {   # the camera perspective
             "dtype": "video",
             "shape": [
                 480,
@@ -151,10 +231,10 @@ the basic struct of the [info.json](#meta/info.json)
                 "has_audio": false
             }
         },
-        "observation.images.hand_left": {
+        "observation.images.hand_left": {   # the camera perspective
             ...
         },
-        "observation.images.hand_right": {
+        "observation.images.hand_right": {   # the camera perspective
             ...
         },
         "observation.state": {
@@ -210,7 +290,7 @@ the basic struct of the [info.json](#meta/info.json)
 }
 ```
 
-### [Parquet file format](#contents)
+#### [Parquet file format](#contents)
 | Field Name | shape | Meaning |
 |------------|-------------|-------------|
 | observation.state | [N, 14] |left `[:, :6]`, right `[:, 7:13]`, joint angle<br> left`[:, 6]`, right `[:, 13]` , gripper open range|
@@ -221,86 +301,9 @@ the basic struct of the [info.json](#meta/info.json)
 | index | [N, 1] | Global unique index across all frames in the dataset |
 | task_index | [N, 1] | Index identifying the task type being performed |
 
-## [tasks.jsonl](#FlattenFold/meta/tasks.jsonl)
+### [tasks.jsonl](#FlattenFold/meta/tasks.jsonl)
 Contains task language prompts (natural language instructions) that specify the manipulation task to be performed. Each entry maps a task_index to its corresponding task description, which can be used for language-conditioned policy training.
-# [Download the Dataset](#contents)
-### Python Script
-
-```python
-from huggingface_hub import hf_hub_download, snapshot_download
-from datasets import load_dataset
-
-# Download a single file
-hf_hub_download(
-    repo_id="OpenDriveLab-org/kai0", 
-    filename="episodes.jsonl",
-    subfolder="meta",
-    repo_type="dataset",
-    local_dir="where/you/want/to/save"
-)
-
-# Download a specific folder
-snapshot_download(
-    repo_id="OpenDriveLab-org/kai0", 
-    local_dir="/where/you/want/to/save",
-    repo_type="dataset",
-    allow_patterns=["data/*"]
-)
-
-# Load the entire dataset
-dataset = load_dataset("OpenDriveLab-org/kai0") 
-```
-
-### Terminal (CLI)
-
-```bash
-# Download a single file
-hf download OpenDriveLab-org/kai0 \
-    --include "meta/info.json" \
-    --repo-type dataset \
-    --local-dir "/where/you/want/to/save"
-
-# Download a specific folder
-hf download OpenDriveLab-org/kai0 \
-    --repo-type dataset \
-    --include "meta/*" \
-    --local-dir "/where/you/want/to/save"
-
-# Download the entire dataset
-hf download OpenDriveLab-org/kai0 \
-    --repo-type dataset \
-    --local-dir "/where/you/want/to/save"
-```
-
-# [Load the dataset](#contents)
-
-## For LeRobot version < 0.4.0
-
-Choose the appropriate import based on your version:
-
-| Version | Import Path |
-|---------|-------------|
-| `<= 0.1.0` | `from lerobot.common.datasets.lerobot_dataset import LeRobotDataset` |
-| `> 0.1.0` and `< 0.4.0` | `from lerobot.datasets.lerobot_dataset import LeRobotDataset` |
-
-```python
-# For version <= 0.1.0
-from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
-
-# For version > 0.1.0 and < 0.4.0
-from lerobot.datasets.lerobot_dataset import LeRobotDataset
-
-# Load the dataset
-dataset = LeRobotDataset(repo_id='where/the/dataset/you/stored')
-```
 
-## For LeRobot version >= 0.4.0
-
-You need to migrate the dataset from v2.1 to v3.0 first. See the official documentation: [Migrate the dataset from v2.1 to v3.0](https://huggingface.co/docs/lerobot/lerobot-dataset-v3)
-
-```bash
-python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=<HF_USER/DATASET_ID>
-```
 <span style="color: red; font-weight: bold; font-size: 24px;">⚠️ !!!  等待信息填充</span>
 # License and Citation
 All the data and code within this repo are under [](). Please consider citing our project if it helps your research.