docs: regenerate KAPEX dataset card

README.md

@@ -1,253 +1,112 @@
 ---
 license: apache-2.0
+pretty_name: KAPEX teleop · mug-25-dim
+language:
+  - en
 task_categories:
-- robotics
+  - robotics
 tags:
-- LeRobot
-configs:
-- config_name: default
-  data_files: data/*/*.parquet
+  - lerobot
+  - imitation-learning
+  - manipulation
+  - humanoid
+  - kapex
+  - teleoperation
+size_categories:
+  - 10K<n<100K
 ---
+# KAPEX teleop · mug-25-dim
 
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
-
-
-<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=adhdmi/mug-25-dim">
-<img class="block dark:hidden" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl.svg"/>
-<img class="hidden dark:block" src="https://huggingface.co/datasets/huggingface/badges/resolve/main/visualize-this-dataset-xl-dark.svg"/>
-</a>
-
-
-## Dataset Description
-
-
-
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
-
-## Dataset Structure
-
-[meta/info.json](meta/info.json):
-```json
-{
-    "codebase_version": "v3.0",
-    "robot_type": null,
-    "total_episodes": 100,
-    "total_frames": 16893,
-    "total_tasks": 1,
-    "chunks_size": 1000,
-    "data_files_size_in_mb": 100,
-    "video_files_size_in_mb": 200,
-    "fps": 20,
-    "splits": {
-        "train": "0:100"
-    },
-    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
-    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
-    "features": {
-        "observation.state": {
-            "dtype": "float32",
-            "shape": [
-                25
-            ],
-            "names": [
-                "RAJ1",
-                "RAJ2",
-                "RAJ3",
-                "RAJ4",
-                "RAJ5",
-                "RAJ6",
-                "RAJ7",
-                "RHJ_thumb0",
-                "RHJ_thumb1",
-                "RHJ_thumb2",
-                "RHJ_index0",
-                "RHJ_index1",
-                "RHJ_index2",
-                "RHJ_index3",
-                "RHJ_middle0",
-                "RHJ_middle1",
-                "RHJ_middle2",
-                "RHJ_middle3",
-                "RHJ_ring0",
-                "RHJ_ring1",
-                "RHJ_ring2",
-                "RHJ_ring3",
-                "RHJ_little0",
-                "RHJ_little1",
-                "RHJ_little2"
-            ]
-        },
-        "action": {
-            "dtype": "float32",
-            "shape": [
-                25
-            ],
-            "names": [
-                "RAJ1",
-                "RAJ2",
-                "RAJ3",
-                "RAJ4",
-                "RAJ5",
-                "RAJ6",
-                "RAJ7",
-                "RHJ_thumb0",
-                "RHJ_thumb1",
-                "RHJ_thumb2",
-                "RHJ_index0",
-                "RHJ_index1",
-                "RHJ_index2",
-                "RHJ_index3",
-                "RHJ_middle0",
-                "RHJ_middle1",
-                "RHJ_middle2",
-                "RHJ_middle3",
-                "RHJ_ring0",
-                "RHJ_ring1",
-                "RHJ_ring2",
-                "RHJ_ring3",
-                "RHJ_little0",
-                "RHJ_little1",
-                "RHJ_little2"
-            ]
-        },
-        "observation.images.cam_left": {
-            "dtype": "video",
-            "shape": [
-                3,
-                480,
-                640
-            ],
-            "names": [
-                "channels",
-                "height",
-                "width"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 20,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.cam_right": {
-            "dtype": "video",
-            "shape": [
-                3,
-                480,
-                640
-            ],
-            "names": [
-                "channels",
-                "height",
-                "width"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 20,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.cam_wrist_left": {
-            "dtype": "video",
-            "shape": [
-                3,
-                480,
-                640
-            ],
-            "names": [
-                "channels",
-                "height",
-                "width"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 20,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.cam_wrist_right": {
-            "dtype": "video",
-            "shape": [
-                3,
-                480,
-                640
-            ],
-            "names": [
-                "channels",
-                "height",
-                "width"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 20,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        }
-    }
-}
+A [LeRobot](https://github.com/huggingface/lerobot)-format dataset captured
+through KAPEX humanoid teleoperation (Manus gloves + Vive trackers, plus
+optional VR head cameras).
+
+- **Repo id:** `adhdmi/mug-25-dim`
+- **LeRobot codebase version:** `v3.0`
+- **Episodes / Frames:** 100 / 16893
+- **Control rate:** 20 fps
+- **State / Action dim:** 25 / 25
+**Task instruction (per episode):** *Pick up the mug with the right hand and place it on top of the cube*
+
+
+## Schema
+
+| Feature | dtype | shape | rate |
+|---|---|---|---|
+| `observation.state` | float32 | (25,) | 20 fps |
+| `action` | float32 | (25,) | 20 fps |
+| `observation.images.cam_left` | video (av1) | (3, 480, 640) | 20 fps |
+| `observation.images.cam_right` | video (av1) | (3, 480, 640) | 20 fps |
+| `observation.images.cam_wrist_left` | video (av1) | (3, 480, 640) | 20 fps |
+| `observation.images.cam_wrist_right` | video (av1) | (3, 480, 640) | 20 fps |
+
+The 59-dimensional KAPEX joint layout (when full body is recorded):
+`3 waist + 2 head + 7 left arm + 7 right arm + 20 left hand + 20 right hand`.
+`observation.state` holds the *current* joint positions; `action` holds the
+*target* joint positions issued that tick. A learned policy that emits a
+59-d vector in this layout is plug-compatible with `BaseEnv._apply_action`
+in the [Kapex Benchmark](https://github.com/) repository.
+
+## Cameras
+
+All camera streams are stored as videos at 20 fps, channel-first `(3, H, W)`
+RGB layout (decoded by LeRobot's `VideoFrame` reader at load time).
+
+- `observation.images.cam_left` — head left eye (mounted on `HL2`)
+- `observation.images.cam_right` — head right eye (mounted on `HL2`)
+- `observation.images.cam_wrist_left` — left wrist camera (mounted on `LA7`)
+- `observation.images.cam_wrist_right` — right wrist camera (mounted on `RA7`)
+
+## Loading the dataset
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+ds = LeRobotDataset("adhdmi/mug-25-dim")          # downloads on first call
+print(len(ds), ds.meta.fps, list(ds.meta.features))
+
+sample = ds[0]
+print(sample["observation.state"].shape)  # (25,)
+print(sample["action"].shape)             # (25,)
 ```
 
+## Training
+
+LeRobot 0.5.x ships training entry points as console scripts. Replace
+`act` with `diffusion`, `tdmpc`, `vqbet`, ... for other policy families.
+
+```bash
+# Action-Chunking Transformer (ACT)
+lerobot-train \
+    --policy.type=act \
+    --dataset.repo_id=adhdmi/mug-25-dim \
+    --output_dir=./outputs/act_mug-25-dim
+
+# Diffusion Policy
+lerobot-train \
+    --policy.type=diffusion \
+    --dataset.repo_id=adhdmi/mug-25-dim \
+    --output_dir=./outputs/diffusion_mug-25-dim
+```
+
+## Visualization
+
+```bash
+# Interactive Rerun-based viewer
+lerobot-dataset-viz \
+    --repo-id adhdmi/mug-25-dim \
+    --episode-index 0
+```
 
-## Citation
+If `lerobot-dataset-viz` is not on your `$PATH`, run
+`python -m lerobot.scripts.visualize_dataset --repo-id adhdmi/mug-25-dim --episode-index 0`
+on older releases.
 
-**BibTeX:**
+## Authoring info
 
-```bibtex
-[More Information Needed]
-```
+- Recorded with `scripts/tabletop_teleop/run_teleop.py`.
+- Converted to LeRobot format with
+  `scripts/tabletop_teleop/lerobot_pipeline/convert_record_data.py`.
+- Pushed to the Hub with
+  `scripts/tabletop_teleop/lerobot_pipeline/export_and_upload.py`.
+- Maintainer: `adhdmi` (Hugging Face Hub).