Update README.md

README.md

@@ -1,3 +1,38 @@
 ---
-license: mit
+license: apache-2.0
+task_categories:
+- robotics
+tags:
+- benchmark
+- manipulation
+- vla
 ---
+
+# DuoBench Raw Dataset
+
+This is the raw dataset collected for the FR3 Duo Benchmark [DuoBench](https://arxiv.org/abs/2606.11901).
+The format is a raw parquet format that includes additional information such as robot state (real) and sim state (sim) which are filtered out for training.
+If you are looking for the converted hugging face dataset ready for training, see [this dataset](https://huggingface.co/datasets/RobotControlStack/duobench).
+
+You can also manually convert this raw dataset to the hugging face format with the following command:
+```shell
+# install rcs: https://github.com/RobotControlStack/robot-control-stack
+python -m rcs lerobot-convert <output_path> --dataset-path <path> --repo-id duobench/<task_id> --no-joints --camera head@224x224 --camera left_wrist@224x224 --camera right_wrist@224x224 --video-encoding --video-backend torchcodec --binarize-gripper --n 50
+```
+
+
+
+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}
+}
+```