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README.md

@@ -1,112 +1,323 @@
 ---
 license: apache-2.0
-pretty_name: KAPEX teleop · mug
-language:
-  - en
 task_categories:
-  - robotics
+- robotics
 tags:
-  - lerobot
-  - imitation-learning
-  - manipulation
-  - humanoid
-  - kapex
-  - teleoperation
-size_categories:
-  - 10K<n<100K
+- LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
 ---
-# KAPEX teleop · mug
 
-A [LeRobot](https://github.com/huggingface/lerobot)-format dataset captured
-through KAPEX humanoid teleoperation (Manus gloves + Vive trackers, plus
-optional VR head cameras).
+This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
-- **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
 
-| 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 |
+## Dataset Description
 
-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).
+- **Homepage:** [More Information Needed]
+- **Paper:** [More Information Needed]
+- **License:** apache-2.0
 
-- `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`)
+## Dataset Structure
 
-## 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
+[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",
+        "val_fraction": 0.1,
+        "val_seed": 42
+    },
+    "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
+        }
+    }
+}
 ```
 
-## Visualization
-
-```bash
-# Interactive Rerun-based viewer
-lerobot-dataset-viz \
-    --repo-id adhdmi/mug \
-    --episode-index 0
-```
 
-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.
+## Citation
 
-## Authoring info
+**BibTeX:**
 
-- 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).
+```bibtex
+[More Information Needed]
+```