Update README.md

README.md

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----
-license: cc-by-4.0
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+---
+license: cc-by-4.0
+task_categories:
+- robotics
+language:
+- en
+size_categories:
+- n<1K
+tags:
+- lerobot
+- Unitree G1
+---
+# Dataset Card for HuMI
+[[Project Page]](https://humanoid-manipulation-interface.github.io/) | [[Paper]](http://arxiv.org/abs/2602.06643)
+
+### Dataset Summary
+This dataset was collected using the [HuMI](https://humanoid-manipulation-interface.github.io/) data collection pipeline and converted into the LeRobot format. It provides robot-free demonstrations for humanoid whole-body manipulation.
+
+**Task Description:** This repository includes a `marriage-proposal` task in which a humanoid kneels, picks up a ring-shaped toy from the ground with its right hand, and raises it in a proposal gesture.
+
+The dataset comprises 103 demonstrations collected within a single environment.
+
+## Dataset Structure
+
+### Data Instances
+
+Each instance in the dataset represents a single frame from an episode. The data includes synchronized camera observations, end-effector poses, joint positions, and task instructions.
+
+### Data Fields
+
+The dataset contains the following features:
+
+- `task` (`string`): The natural language description of the task.
+- `observation.images.camera{cam_id}_rgb` (video, `(H, W, 3)`): RGB observations from the cameras.
+- `{robot_name}_eef_pos` (`float32`, `(3,)`): End-effector position (x, y, z).
+- `{robot_name}_eef_rot_axis_angle` (`float32`, `(3,)`): End-effector rotation in axis-angle representation.
+- `{robot_name}_gripper_width` (`float32`, `(1,)`): Gripper width (only present for gripper end-effectors).
+- `{robot_name}_demo_start_pose` (`float32`, `(6,)`): Initial 6DoF pose of the end-effector for the demonstration.
+- `{robot_name}_demo_end_pose` (`float32`, `(6,)`): Final 6DoF pose of the end-effector for the demonstration.
+- `joint_pos` (`float32`, `(29,)`): Full joint positions of the Unitree G1 robot, computed via inverse kinematics using the end-effector poses as targets.
+
+For the HuMI setup, we recorded images from two wrist-mounted cameras, where `camera0` corresponds to the right gripper and `camera1` corresponds to the left.
+Additionally, we recorded trajectories for five end-effectors, adopting the naming convention from [UMI](https://umi-gripper.github.io/):
+
+- `robot0`: right gripper
+- `robot1`: left gripper
+- `robot2`: pelvis
+- `robot3`: right foot
+- `robot4`: left foot
+
+### Citation Information
+```bibtex
+@article{nai2026humanoid,
+  title={Humanoid Manipulation Interface: Humanoid Whole-Body Manipulation from Robot-Free Demonstrations},
+  author={Nai, Ruiqian and Zheng, Boyuan and Zhao, Junming and Zhu, Haodong and Dai, Sicong and Chen, Zunhao and Hu, Yihang and Hu, Yingdong and Zhang, Tong and Wen, Chuan and others},
+  journal={arXiv preprint arXiv:2602.06643},
+  year={2026}
+}