Update README.md

README.md

@@ -1,3 +1,33 @@
 ---
-license: mit
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- benchmark
+- manipulation
+- vla
 ---
+
+# DuoBench LeRobot Dataset
+
+This is the dataset collected for the FR3 Duo Benchmark [DuoBench](https://arxiv.org/abs/2606.11901) in LeRobot format ready for training.
+The dataset is a stripped down version from the [raw dataset](https://huggingface.co/datasets/RobotControlStack/duobench_raw) and only contains data required for VLA training.
+Checkout the [raw dataset](https://huggingface.co/datasets/RobotControlStack/duobench_raw) if you are interested e.g. in franka states (real) and sim states.
+The raw dataset repo also shows how to convert the data into this lerobot version.
+
+
+
+Project page: https://duobench.github.io/
+DuoBench Code: https://github.com/RobotControlStack/duobench
+
+
+## Citation
+If you find this dataset or DuoBench useful for your work, please consider citing it:
+```
+@misc{duobench,
+  title={{DuoBench}: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World},
+  author={Tobias J{\"u}lg and Seongjin Bien and Simon Hilber and Yannik Blei and Pierre Krack and Maximilian Li and Sven Parusel and Rudolf Lioutikov and Florian Walter and Wolfram Burgard},
+  year={2026},
+  url={https://arxiv.org/abs/2606.11901}
+}
+```