Expand dataset README with schema details

README.md

@@ -30,6 +30,20 @@ The dataset contains ten LIBERO spatial tasks. Each task file contains the
 first ten source demonstrations rendered under all six visual conditions, for
 60 trajectories per task and 600 trajectories total.
 
+Within every task HDF5, the trajectory blocks are ordered as:
+
+```text
+demo_0..demo_9    original
+demo_10..demo_19  nordic-sage
+demo_20..demo_29  midnight-fjord
+demo_30..demo_39  terracotta-pop
+demo_40..demo_49  alpine-oak
+demo_50..demo_59  graphite-gallery
+```
+
+Prefer reading `visual_condition_key` and `source_demo_index` from each
+episode's attributes instead of relying only on this index convention.
+
 Each episode stores explicit metadata:
 
 - `task_name`, `task_index`, `language_instruction`
@@ -38,6 +52,23 @@ Each episode stores explicit metadata:
 - `camera_calibration` group with per-camera intrinsics, per-frame extrinsics,
   and per-frame world-to-pixel projection matrices
 
+Common trajectory and observation keys follow the usual LIBERO HDF5 layout:
+
+```text
+data/demo_*/actions
+data/demo_*/states
+data/demo_*/robot_states
+data/demo_*/rewards
+data/demo_*/dones
+data/demo_*/obs/agentview_rgb
+data/demo_*/obs/eye_in_hand_rgb
+data/demo_*/obs/joint_states
+data/demo_*/obs/gripper_states
+data/demo_*/obs/ee_pos
+data/demo_*/obs/ee_ori
+data/demo_*/obs/ee_states
+```
+
 Camera calibration is stored at:
 
 ```text
@@ -45,3 +76,20 @@ data/demo_*/camera_calibration/<camera_name>/intrinsic_matrix
 data/demo_*/camera_calibration/<camera_name>/extrinsic_matrices
 data/demo_*/camera_calibration/<camera_name>/world_to_pixel_matrices
 ```
+
+Calibration is available for both `agentview` and `robot0_eye_in_hand`.
+The array shapes are:
+
+```text
+intrinsic_matrix          (3, 3)
+extrinsic_matrices        (T, 4, 4)
+world_to_pixel_matrices   (T, 4, 4)
+```
+
+The uploaded dataset was re-downloaded from Hugging Face and validated for:
+
+- 10 task files
+- 600 total trajectories
+- expected visual-condition blocks
+- expected RGB observation shapes `(T, 128, 128, 3)`
+- expected camera calibration groups and matrix shapes