Update README.md

README.md

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 ---
-license: mit
+license: apache-2.0
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+# XR-1-Dataset-Sample
+
+[[Project Page](https://github.com/Open-X-Humanoid/XR-1)] [[Paper](https://arxiv.org/abs/2411.02776v1)] [[GitHub](https://github.com/Open-X-Humanoid/XR-1)]
+
+This repository contains a representative sample of the **XR-1** project's multi-modal dataset. The data is organized to support cross-embodiment training for Humanoids, Manipulators, and Ego-centric vision.
+
+## 📂 Directory Structure
+
+The dataset follows a hierarchy based on **Embodiment -> Task -> Format**:
+
+### 1. Robot Embodiment Data (LeRobot Format)
+Standard robot data (like TienKung or UR5) is organized following the [LeRobot](https://github.com/huggingface/lerobot) convention:
+
+```text
+XR-1-Dataset-Sample/
+└── DUAL_ARM_TIEN_KUNG2/                      # Robot Embodiment
+    └── Press_Green_Button/              # Task Name
+        └── lerobot/               # Data in LeRobot format
+            ├── metadata.json     
+            ├── episodes.jsonl     
+            ├── videos/            
+            └── data/             
+
+```
+
+### 2. Human/Ego-centric Data (Ego4D Format)
+
+For ego-centric data (e.g., Ego4D subsets used for Stage 1 UVMC pre-training), the structure is adapted to its native recording format:
+
+```text
+XR-1-Dataset-Sample/
+└── Ego4D/                         # Human ego-centric source
+    ├── files.json                 # Unified annotation/mapping file
+    └── files/                     # Raw data storage
+        └── [video_id].mp4         # Egocentric video clips
+```
+
+## 🤖 Data Modalities
+
+* **Vision**: High-frequency RGB streams from multiple camera perspectives.
+* **Motion**: Continuous state-action pairs, which are tokenized into **UVMC** (Unified Vision-Motion Codes) for XR-1 training.
+* **Language**: Natural language instructions paired with each episode for VLA alignment.
+
+## 🛠 Usage
+
+This sample is intended for use with the [XR-1 GitHub Repository](https://github.com/Open-X-Humanoid/XR-1). 
+
+## 📝 Citation
+
+```bibtex
+@article{fan2025xr,
+  title={XR-1: Towards Versatile Vision-Language-Action Models via Learning Unified Vision-Motion Representations},
+  author={Fan, Shichao and others},
+  journal={arXiv preprint arXiv:2411.02776},
+  year={2025}
+}
+
+```
+
+## 📜 License
+
+This dataset is released under the [MIT License](https://github.com/Open-X-Humanoid/XR-1/blob/main/LICENSE).
+
+---
+
+**Contact**: For questions, please open an issue on our [GitHub](https://github.com/Open-X-Humanoid/XR-1).