Update README.md

README.md

@@ -4,8 +4,96 @@ license: mit
 # Datacard
 This is the official fine-tuning dataset provided by VLABench, with 500 episodes each task. The current version includes 10 primitive tasks.
 
+## Source
+- Project Page: [https://vlabench.github.io/](https://vlabench.github.io/)
+- Arxiv Paper: [https://arxiv.org/abs/2412.18194](https://arxiv.org/abs/2412.18194)
+- Code: [https://github.com/OpenMOSS/VLABench](https://github.com/OpenMOSS/VLABench)
+
 ## Uses
 Download all archive files and use the following command to extract:
 ```sh
 cat rdt_data.tar.gz.* | tar -xzvf -
+```
+
+In the resulting `VLABench_release` folder, there will be two folders: `primitive`(release now) and `composite`(under management). 
+In `primitive` folder, there are ten sub-folders and the dataset HDF5 files can be listed as:
+
+```
+VLABench_release
+└── primitive
+    ├── add_condiment
+        └── episode_0.hdf5
+        ...
+    ├── insert_flower
+        └── episode_0.hdf5
+        ...
+    ├── select_book
+        └── ...
+    ├── select_chemistry_tube
+        └── ...
+    ├── select_drink
+        └── ...
+    ├── select_fruit
+        └── ...
+    ├── select_mahjong
+        └── ...
+    ├── select_painting
+        └── ...
+    ├── select_poker
+        └── ...
+    └── select_toy
+        └── ...
+```
+
+An example of the single episode data is:
+```
+data
+    2025-02-23 20:46:40
+        instruction
+         (1,) |S38
+         ['Please put the striped_10 in any hole.']
+        meta_info
+            entities
+             (6,) |S15
+             ['billiards_table', 'striped_10', 'striped_14', 'striped_11', 'striped_12', 'solid_1']
+            episode_config
+             () | S1879
+            target_entity
+             (1,) |S10
+             ['striped_10']
+        observation
+            depth
+             (212, 4, 480, 480) float32
+            ee_state
+             (212, 8) float32
+            point_cloud_colors
+             (212, 11905, 3) float32
+            point_cloud_points
+             (212, 11905, 3) float32
+            q_acceleration
+             (212, 7, 1) float32
+            q_state
+             (212, 7, 1) float32
+            q_velocity
+             (212, 7, 1) float32
+            rgb
+             (212, 4, 480, 480, 3) uint8
+            robot_mask
+             (212, 4, 480, 480) float32
+        trajectory
+         (212, 8) float32
+```
+
+## Citation
+If you find our work helps,please cite us:
+```
+@misc{zhang2024vlabench,
+      title={VLABench: A Large-Scale Benchmark for Language-Conditioned Robotics Manipulation with Long-Horizon Reasoning Tasks}, 
+      author={Shiduo Zhang and Zhe Xu and Peiju Liu and Xiaopeng Yu and Yuan Li and Qinghui Gao and Zhaoye Fei and Zhangyue Yin and Zuxuan Wu and Yu-Gang Jiang and Xipeng Qiu},
+      year={2024},
+      eprint={2412.18194},
+      archivePrefix={arXiv},
+      primaryClass={cs.RO},
+      url={https://arxiv.org/abs/2412.18194}, 
+}
 ```