docs: regenerate KAPEX dataset card

README.md

@@ -1,321 +1,112 @@
 ---
 license: apache-2.0
+pretty_name: KAPEX teleop · mug
+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
 
-This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
+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`
+- **LeRobot codebase version:** `v3.0`
+- **Episodes / Frames:** 100 / 16893
+- **Control rate:** 20 fps
+- **State / Action dim:** 59 / 59
+**Task instruction (per episode):** *Pick up the mug with the right hand and place it on top of the cube*
 
-<a class="flex" href="https://huggingface.co/spaces/lerobot/visualize_dataset?path=adhdmi/mug">
-<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>
 
+## Schema
 
-## Dataset Description
+| Feature | dtype | shape | rate |
+|---|---|---|---|
+| `observation.state` | float32 | (59,) | 20 fps |
+| `action` | float32 | (59,) | 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
 
-- **Homepage:** [More Information Needed]
-- **Paper:** [More Information Needed]
-- **License:** apache-2.0
+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).
 
-## Dataset Structure
+- `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`)
 
-[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": [
-                59
-            ],
-            "names": [
-                "state_0",
-                "state_1",
-                "state_2",
-                "state_3",
-                "state_4",
-                "state_5",
-                "state_6",
-                "state_7",
-                "state_8",
-                "state_9",
-                "state_10",
-                "state_11",
-                "state_12",
-                "state_13",
-                "state_14",
-                "state_15",
-                "state_16",
-                "state_17",
-                "state_18",
-                "state_19",
-                "state_20",
-                "state_21",
-                "state_22",
-                "state_23",
-                "state_24",
-                "state_25",
-                "state_26",
-                "state_27",
-                "state_28",
-                "state_29",
-                "state_30",
-                "state_31",
-                "state_32",
-                "state_33",
-                "state_34",
-                "state_35",
-                "state_36",
-                "state_37",
-                "state_38",
-                "state_39",
-                "state_40",
-                "state_41",
-                "state_42",
-                "state_43",
-                "state_44",
-                "state_45",
-                "state_46",
-                "state_47",
-                "state_48",
-                "state_49",
-                "state_50",
-                "state_51",
-                "state_52",
-                "state_53",
-                "state_54",
-                "state_55",
-                "state_56",
-                "state_57",
-                "state_58"
-            ]
-        },
-        "action": {
-            "dtype": "float32",
-            "shape": [
-                59
-            ],
-            "names": [
-                "action_0",
-                "action_1",
-                "action_2",
-                "action_3",
-                "action_4",
-                "action_5",
-                "action_6",
-                "action_7",
-                "action_8",
-                "action_9",
-                "action_10",
-                "action_11",
-                "action_12",
-                "action_13",
-                "action_14",
-                "action_15",
-                "action_16",
-                "action_17",
-                "action_18",
-                "action_19",
-                "action_20",
-                "action_21",
-                "action_22",
-                "action_23",
-                "action_24",
-                "action_25",
-                "action_26",
-                "action_27",
-                "action_28",
-                "action_29",
-                "action_30",
-                "action_31",
-                "action_32",
-                "action_33",
-                "action_34",
-                "action_35",
-                "action_36",
-                "action_37",
-                "action_38",
-                "action_39",
-                "action_40",
-                "action_41",
-                "action_42",
-                "action_43",
-                "action_44",
-                "action_45",
-                "action_46",
-                "action_47",
-                "action_48",
-                "action_49",
-                "action_50",
-                "action_51",
-                "action_52",
-                "action_53",
-                "action_54",
-                "action_55",
-                "action_56",
-                "action_57",
-                "action_58"
-            ]
-        },
-        "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
-        }
-    }
-}
+## Loading the dataset
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+ds = LeRobotDataset("adhdmi/mug")          # downloads on first call
+print(len(ds), ds.meta.fps, list(ds.meta.features))
+
+sample = ds[0]
+print(sample["observation.state"].shape)  # (59,)
+print(sample["action"].shape)             # (59,)
+```
+
+## 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 \
+    --output_dir=./outputs/act_mug
+
+# Diffusion Policy
+lerobot-train \
+    --policy.type=diffusion \
+    --dataset.repo_id=adhdmi/mug \
+    --output_dir=./outputs/diffusion_mug
 ```
 
+## Visualization
+
+```bash
+# Interactive Rerun-based viewer
+lerobot-dataset-viz \
+    --repo-id adhdmi/mug \
+    --episode-index 0
+```
 
-## Citation
+If `lerobot-dataset-viz` is not on your `$PATH`, run
+`python -m lerobot.scripts.visualize_dataset --repo-id adhdmi/mug --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).