update chinese and english readme

README.md

@@ -1,12 +1,334 @@
 ---
 license: cc-by-sa-4.0
+language:
+  - en
+  - zh
+tags:
+  - robotics
+  - manipulation
+  - household-robot
+  - challenge
+  - lerobot
 ---
 
-# 启元机器人家庭操作挑战赛数据集
-![启元机器人家庭操作挑战赛](challenge_teaser.jpg)
+<div align="center">
+  <img src="./challenge_teaser.jpg" width="800" alt="PrimeBot Household Bimanual Manipulation Challenge">
+  <h1>PrimeBot Household Bimanual Manipulation Challenge Dataset</h1>
+
+  [English](#english) | [中文](#chinese)
+</div>
+
+---
+
+<a id="english"></a>
+## English
+
+### Real-World Teleoperation Data
+Teleoperation data is sponsored by PrimeBot. The dataset is constructed in the standard [LeRobot V2.1](https://github.com/huggingface/lerobot) format. Example code for loading the dataset:
+```bash
+pip install "lerobot==0.3.3" "mmengine==0.10.7" "torch==2.7.0" "numpy==1.26.4" "torchcodec==0.5" "torchvision==0.22.0"
+
+python dataloader/custom_lerobot_dataset.py
+```
+
+### Training Set Description
+The training set covers more than 12 real-world dual-arm manipulation tasks in household scenarios. All data includes frame-accurate language annotations. Partial task list:
+
+| Task ID | Task Description |
+| :--- | :--- |
+| 1 | Use the gripper to fully open the washing machine door. |
+| 2 | Close the washing machine door tightly with the gripper. |
+| 3 | Put these two pieces of clothing into the washer. |
+| 4 | Take the clothing out of the washer and put it in the basket. |
+| 5 | Pick up the laundry basket with both grippers. |
+| 6 | Put the dirty clothes basket on the ground. |
+| 7 | Pick up the clothing and put it on the sofa. |
+| 8 | Put the clothing in the folding area. |
+| 9 | Unfold the clothing and fold it neatly. |
+| 10 | Place the folded clothing in the storage area. |
+
+<!-- The training set consists of multiple independent, non-overlapping subsets. You can freely combine them for different training strategies.
+| Dataset Name | Collection Batch | Task Type | Total Data (Hours) |
+| :--- | :--- | :--- | :--- |
+| full_task | Batch 1 | 1-10 | 421 |
+| fold_cloth | Batch 2 | 8-10 | 70 | -->
+
+### Test Set Description
+The test set follows exactly the same format as the training set. To prevent policies from overfitting to state data, two special adjustments are applied:
+- The `observation.state` data in the test set contains random noise.
+- All `action` fields in the test set are set to zero.
+
+Considering the computing resources of participating teams and on-site testing constraints, the evaluation of this challenge will be conducted on no more than 4 tasks:
+- Use the gripper to fully open the washing machine door.
+- Close the washing machine door tightly with the gripper.
+- Put these two pieces of clothing into the washer.
+- Unfold the clothing and fold it neatly.
+
+**Online evaluation**: Participants need to submit the predicted action trajectories on corresponding segments of the valid_set.
+
+**On-site evaluation**: A base Docker image will be released in advance, with the inference framework and basic test environment pre-configured. Participants only need to implement the model loading and forward functions, and submit the complete Docker image for final evaluation.
+
+### Dataset Field Description
+
+#### Images
+The dataset includes three-view RGB images with a resolution of 1280×720 at 30 FPS. Field definitions:
+
+| Dataset Field | Source |
+| :--- | :--- |
+| observation.images.x2w_camera_head_realsense_compressed | Head camera |
+| observation.images.x2w_camera_left_wrist_zedxonegs_rgb_raw_image_compressed | Left wrist camera |
+| observation.images.x2w_camera_right_wrist_zedxonegs_rgb_raw_image_compressed | Right wrist camera |
+
+#### Language Instructions
+All annotation information is stored in `${dataset_name}/meta/info.json`. Language annotations are aligned to each frame. Taking a 1000-frame manipulation task as an example:
+
+| Segment | Segment 1 | Segment 2 | Segment 3 | Segment 4 |
+| :--- | :--- | :--- | :--- | :--- |
+| Frame Index | 0–98 | 99–420 | 421–910 | 911–999 |
+| Annotation | Start remote operation. | Open the washing machine door. | Close the washing machine door. | End remote operation. |
+
+#### Proprioceptive Information
+Including robot state (`observation.state`) and action (`action`), both with 89 dimensions, defined as follows:
+
+##### 1. Joint Position (Index 0–21)
+| Index | Source | Column Name | Physical Meaning | Unit |
+| :--- | :--- | :--- | :--- | :--- |
+| 0 | joint_state | folding_lower_joint | Folding lower joint angle | rad |
+| 1 | joint_state | folding_upper_joint | Folding upper joint angle | rad |
+| 2 | joint_state | waist_pitch_joint | Waist pitch joint angle | rad |
+| 3 | joint_state | torso_yaw_joint | Torso yaw joint angle | rad |
+| 4 | joint_state | head_yaw_joint | Head yaw joint angle | rad |
+| 5 | joint_state | head_pitch_joint | Head pitch joint angle | rad |
+| 6 | joint_state | left_shoulder_pitch_joint | Left shoulder pitch joint angle | rad |
+| 7 | joint_state | left_shoulder_roll_joint | Left shoulder roll joint angle | rad |
+| 8 | joint_state | left_shoulder_yaw_joint | Left shoulder yaw joint angle | rad |
+| 9 | joint_state | left_elbow_pitch_joint | Left elbow pitch joint angle | rad |
+| 10 | joint_state | left_wrist_roll_joint | Left wrist roll joint angle | rad |
+| 11 | joint_state | left_wrist_yaw_joint | Left wrist yaw joint angle | rad |
+| 12 | joint_state | left_wrist_pitch_joint | Left wrist pitch joint angle | rad |
+| 13 | joint_state | right_shoulder_pitch_joint | Right shoulder pitch joint angle | rad |
+| 14 | joint_state | right_shoulder_roll_joint | Right shoulder roll joint angle | rad |
+| 15 | joint_state | right_shoulder_yaw_joint | Right shoulder yaw joint angle | rad |
+| 16 | joint_state | right_elbow_pitch_joint | Right elbow pitch joint angle | rad |
+| 17 | joint_state | right_wrist_roll_joint | Right wrist roll joint angle | rad |
+| 18 | joint_state | right_wrist_yaw_joint | Right wrist yaw joint angle | rad |
+| 19 | joint_state | right_wrist_pitch_joint | Right wrist pitch joint angle | rad |
+| 20 | joint_state | left_finger_l_joint | Left finger joint angle | rad |
+| 21 | joint_state | right_finger_l_joint | Right finger joint angle | rad |
+
+##### 2. Joint Velocity (Index 22–43)
+| Index | Source | Column Name | Physical Meaning | Unit |
+| :--- | :--- | :--- | :--- | :--- |
+| 22 | joint_state | folding_lower_joint_velocity | Folding lower joint angular velocity | rad/s |
+| 23 | joint_state | folding_upper_joint_velocity | Folding upper joint angular velocity | rad/s |
+| 24 | joint_state | waist_pitch_joint_velocity | Waist pitch joint angular velocity | rad/s |
+| 25 | joint_state | torso_yaw_joint_velocity | Torso yaw joint angular velocity | rad/s |
+| 26 | joint_state | head_yaw_joint_velocity | Head yaw joint angular velocity | rad/s |
+| 27 | joint_state | head_pitch_joint_velocity | Head pitch joint angular velocity | rad/s |
+| 28 | joint_state | left_shoulder_pitch_joint_velocity | Left shoulder pitch joint angular velocity | rad/s |
+| 29 | joint_state | left_shoulder_roll_joint_velocity | Left shoulder roll joint angular velocity | rad/s |
+| 30 | joint_state | left_shoulder_yaw_joint_velocity | Left shoulder yaw joint angular velocity | rad/s |
+| 31 | joint_state | left_elbow_pitch_joint_velocity | Left elbow pitch joint angular velocity | rad/s |
+| 32 | joint_state | left_wrist_roll_joint_velocity | Left wrist roll joint angular velocity | rad/s |
+| 33 | joint_state | left_wrist_yaw_joint_velocity | Left wrist yaw joint angular velocity | rad/s |
+| 34 | joint_state | left_wrist_pitch_joint_velocity | Left wrist pitch joint angular velocity | rad/s |
+| 35 | joint_state | right_shoulder_pitch_joint_velocity | Right shoulder pitch joint angular velocity | rad/s |
+| 36 | joint_state | right_shoulder_roll_joint_velocity | Right shoulder roll joint angular velocity | rad/s |
+| 37 | joint_state | right_shoulder_yaw_joint_velocity | Right shoulder yaw joint angular velocity | rad/s |
+| 38 | joint_state | right_elbow_pitch_joint_velocity | Right elbow pitch joint angular velocity | rad/s |
+| 39 | joint_state | right_wrist_roll_joint_velocity | Right wrist roll joint angular velocity | rad/s |
+| 40 | joint_state | right_wrist_yaw_joint_velocity | Right wrist yaw joint angular velocity | rad/s |
+| 41 | joint_state | right_wrist_pitch_joint_velocity | Right wrist pitch joint angular velocity | rad/s |
+| 42 | joint_state | left_finger_l_joint_velocity | Left finger joint angular velocity | rad/s |
+| 43 | joint_state | right_finger_l_joint_velocity | Right finger joint angular velocity | rad/s |
+
+##### 3. Joint Effort (Index 44–65)
+| Index | Source | Column Name | Physical Meaning | Unit |
+| :--- | :--- | :--- | :--- | :--- |
+| 44 | joint_state | folding_lower_joint_effort | Folding lower joint output torque | N·m |
+| 45 | joint_state | folding_upper_joint_effort | Folding upper joint output torque | N·m |
+| 46 | joint_state | waist_pitch_joint_effort | Waist pitch joint output torque | N·m |
+| 47 | joint_state | torso_yaw_joint_effort | Torso yaw joint output torque | N·m |
+| 48 | joint_state | head_yaw_joint_effort | Head yaw joint output torque | N·m |
+| 49 | joint_state | head_pitch_joint_effort | Head pitch joint output torque | N·m |
+| 50 | joint_state | left_shoulder_pitch_joint_effort | Left shoulder pitch joint output torque | N·m |
+| 51 | joint_state | left_shoulder_roll_joint_effort | Left shoulder roll joint output torque | N·m |
+| 52 | joint_state | left_shoulder_yaw_joint_effort | Left shoulder yaw joint output torque | N·m |
+| 53 | joint_state | left_elbow_pitch_joint_effort | Left elbow pitch joint output torque | N·m |
+| 54 | joint_state | left_wrist_roll_joint_effort | Left wrist roll joint output torque | N·m |
+| 55 | joint_state | left_wrist_yaw_joint_effort | Left wrist yaw joint output torque | N·m |
+| 56 | joint_state | left_wrist_pitch_joint_effort | Left wrist pitch joint output torque | N·m |
+| 57 | joint_state | right_shoulder_pitch_joint_effort | Right shoulder pitch joint output torque | N·m |
+| 58 | joint_state | right_shoulder_roll_joint_effort | Right shoulder roll joint output torque | N·m |
+| 59 | joint_state | right_shoulder_yaw_joint_effort | Right shoulder yaw joint output torque | N·m |
+| 60 | joint_state | right_elbow_pitch_joint_effort | Right elbow pitch joint output torque | N·m |
+| 61 | joint_state | right_wrist_roll_joint_effort | Right wrist roll joint output torque | N·m |
+| 62 | joint_state | right_wrist_yaw_joint_effort | Right wrist yaw joint output torque | N·m |
+| 63 | joint_state | right_wrist_pitch_joint_effort | Right wrist pitch joint output torque | N·m |
+| 64 | joint_state | left_finger_l_joint_effort | Left finger joint output torque | N·m |
+| 65 | joint_state | right_finger_l_joint_effort | Right finger joint output torque | N·m |
+
+##### 4. End-Effector (Gripper) Pose (Index 66–79)
+| Index | Source | Column Name | Physical Meaning | Unit |
+| :--- | :--- | :--- | :--- | :--- |
+| 66 | gripper_pose | left_gripper_x | Left gripper X position | m |
+| 67 | gripper_pose | left_gripper_y | Left gripper Y position | m |
+| 68 | gripper_pose | left_gripper_z | Left gripper Z position | m |
+| 69 | gripper_pose | left_gripper_qx | Left gripper quaternion X component | - |
+| 70 | gripper_pose | left_gripper_qy | Left gripper quaternion Y component | - |
+| 71 | gripper_pose | left_gripper_qz | Left gripper quaternion Z component | - |
+| 72 | gripper_pose | left_gripper_qw | Left gripper quaternion W component | - |
+| 73 | gripper_pose | right_gripper_x | Right gripper X position | m |
+| 74 | gripper_pose | right_gripper_y | Right gripper Y position | m |
+| 75 | gripper_pose | right_gripper_z | Right gripper Z position | m |
+| 76 | gripper_pose | right_gripper_qx | Right gripper quaternion X component | - |
+| 77 | gripper_pose | right_gripper_qy | Right gripper quaternion Y component | - |
+| 78 | gripper_pose | right_gripper_qz | Right gripper quaternion Z component | - |
+| 79 | gripper_pose | right_gripper_qw | Right gripper quaternion W component | - |
+
+##### 5. Wheel Joint State (Index 80–88)
+| Index | Source | Column Name | Physical Meaning | Unit |
+| :--- | :--- | :--- | :--- | :--- |
+| 80 | wheel_joint_state | wheel_front_left_position | Front left wheel angular position | rad |
+| 81 | wheel_joint_state | wheel_front_right_position | Front right wheel angular position | rad |
+| 82 | wheel_joint_state | wheel_rear_position | Rear wheel angular position | rad |
+| 83 | wheel_joint_state | wheel_front_left_velocity | Front left wheel angular velocity | rad/s |
+| 84 | wheel_joint_state | wheel_front_right_velocity | Front right wheel angular velocity | rad/s |
+| 85 | wheel_joint_state | wheel_rear_velocity | Rear wheel angular velocity | rad/s |
+| 86 | wheel_joint_state | wheel_front_left_effort | Front left wheel output torque | N·m |
+| 87 | wheel_joint_state | wheel_front_right_effort | Front right wheel output torque | N·m |
+| 88 | wheel_joint_state | wheel_rear_effort | Rear wheel output torque | N·m |
+
+#### Robot Inference Interface
+Although the full action fields are recorded in the dataset, only robot joint positions are used as control commands during inference. The complete field definitions:
+
+| Index | Column Name | Physical Meaning | Unit |
+| :--- | :--- | :--- | :--- |
+| 0 | folding_lower_joint | Folding lower joint angle | rad |
+| 1 | folding_upper_joint | Folding upper joint angle | rad |
+| 2 | waist_pitch_joint | Waist pitch joint angle | rad |
+| 3 | torso_yaw_joint | Torso yaw joint angle | rad |
+| 4 | head_yaw_joint | Head yaw joint angle | rad |
+| 5 | head_pitch_joint | Head pitch joint angle | rad |
+| 6 | left_shoulder_pitch_joint | Left shoulder pitch joint angle | rad |
+| 7 | left_shoulder_roll_joint | Left shoulder roll joint angle | rad |
+| 8 | left_shoulder_yaw_joint | Left shoulder yaw joint angle | rad |
+| 9 | left_elbow_pitch_joint | Left elbow pitch joint angle | rad |
+| 10 | left_wrist_roll_joint | Left wrist roll joint angle | rad |
+| 11 | left_wrist_yaw_joint | Left wrist yaw joint angle | rad |
+| 12 | left_wrist_pitch_joint | Left wrist pitch joint angle | rad |
+| 13 | right_shoulder_pitch_joint | Right shoulder pitch joint angle | rad |
+| 14 | right_shoulder_roll_joint | Right shoulder roll joint angle | rad |
+| 15 | right_shoulder_yaw_joint | Right shoulder yaw joint angle | rad |
+| 16 | right_elbow_pitch_joint | Right elbow pitch joint angle | rad |
+| 17 | right_wrist_roll_joint | Right wrist roll joint angle | rad |
+| 18 | right_wrist_yaw_joint | Right wrist yaw joint angle | rad |
+| 19 | right_wrist_pitch_joint | Right wrist pitch joint angle | rad |
+| 20 | left_finger_l_joint | Left finger joint angle | rad |
+| 21 | right_finger_l_joint | Right finger joint angle | rad |
+| 22 | wheel_front_left_velocity | Front left wheel angular velocity | rad/s |
+| 23 | wheel_front_right_velocity | Front right wheel angular velocity | rad/s |
+| 24 | wheel_rear_velocity | Rear wheel angular velocity | rad/s |
+
+### UMI Data
+UMI data is sponsored by [crobotia](http://crobotia.com/). The dataset is constructed in the standard **LeRobot v2.1** dataset with five bimanual manipulation episodes and left/right wrist-mounted ego-camera data.
+
+```bash
+pip install "lerobot==0.3.3"
+```
+
+The dataset has been successfully loaded and frame-tested with Python 3.11, LeRobot 0.3.3, PyTorch 2.7.1, TorchVision 0.22.1, and the `pyav` video backend.
+
+```python
+from lerobot.datasets.lerobot_dataset import LeRobotDataset
+
+dataset = LeRobotDataset(
+    repo_id="local/umi_sample_data_v21",
+    root="/path/to/umi_sample_data_v21",
+)
+```
+
+### Dataset Overview
+
+| Episode | `task_index` | Task | Frames | Duration |
+| :--- | ---: | :--- | ---: | ---: |
+| `episode_000000` | 0 | fold the red shirt | 1410 | 47 s |
+| `episode_000001` | 1 | fold the black shirt | 1050 | 35 s |
+| `episode_000002` | 2 | fold the yellow shirt | 870 | 29 s |
+| `episode_000003` | 1 | fold the black shirt | 1050 | 35 s |
+| `episode_000004` | 3 | fold the brown shirt | 1560 | 52 s |
+
+The dataset contains 5,940 frames and four unique tasks. All episodes are recorded at 30 FPS, and the ego videos have a resolution of 960 × 960.
+
+### Directory Structure
+
+```text
+umi_sample_data_v21/
+├── data/chunk-000/                       # Five episode Parquet files
+├── videos/chunk-000/
+│   ├── observation.images.left_ego/      # Left-hand ego videos
+│   └── observation.images.right_ego/     # Right-hand ego videos
+├── meta/
+│   ├── info.json                         # Dataset and feature definitions
+│   ├── tasks.jsonl                       # Task-to-task_index mapping
+│   ├── episodes.jsonl                    # Episode lengths and tasks
+│   ├── episodes_stats.jsonl              # Per-episode statistics
+│   └── calibration.json                  # Camera and IMU calibration
+├── annotation/                           # Episode-level and action-step annotations
+└── imu/                                  # Left/right IMU data
+```
+
+### Dataset Fields
+
+#### Images
+
+| Dataset field | Source |
+| :--- | :--- |
+| `observation.images.left_ego` | Left wrist-mounted RGB ego camera, 960 × 960 |
+| `observation.images.right_ego` | Right wrist-mounted RGB ego camera, 960 × 960 |
+
+#### Proprioception and Actions
+
+Both `observation.state` and `action` are 16-dimensional and use the same field order:
+
+| Indices | Fields | Meaning | Unit |
+| :--- | :--- | :--- | :--- |
+| 0–2 | `left_x, left_y, left_z` | Left end-effector position | m |
+| 3–6 | `left_qw, left_qx, left_qy, left_qz` | Left end-effector quaternion `(w, x, y, z)` | - |
+| 7 | `left_gripper` | Left gripper opening angle | ° |
+| 8–10 | `right_x, right_y, right_z` | Right end-effector position | m |
+| 11–14 | `right_qw, right_qx, right_qy, right_qz` | Right end-effector quaternion `(w, x, y, z)` | - |
+| 15 | `right_gripper` | Right gripper opening angle | ° |
+
+`observation.state` represents the current-frame state. Except for the final frame, `action[t] = state[t+1]`. The final action retains the next-step target from the original capture sequence and therefore may differ from the final state of the episode. The left and right poses use independent coordinate systems and cannot be used directly to compute the relative distance or pose between the two hands.
+
+#### Index Fields
+
+| Field | Type | Description |
+| :--- | :--- | :--- |
+| `timestamp` | float32 | Time within the episode, in seconds |
+| `frame_index` | int64 | Zero-based frame index within the episode |
+| `episode_index` | int64 | Episode index in the range 0–4 |
+| `index` | int64 | Global frame index in the range 0–5,939 |
+| `task_index` | int64 | Task identifier mapped by `meta/tasks.jsonl` |
+
+#### Annotations and IMU
+
+| File | Description |
+| :--- | :--- |
+| `annotation/episode_subtasks_*.jsonl` | Episode-level task, target-object, and success annotations |
+| `annotation/action_steps_*.jsonl` | Fine-grained action-step segments |
+| `imu/episode_*_{left,right}.csv` | Left/right timestamps, three-axis angular velocity, and three-axis acceleration |
+
+Annotation intervals use the half-open convention `[start_frame_index, end_frame_index)`: the start frame is included and the end frame is excluded.
+
+---
+
+<a id="chinese"></a>
+## 中文
 
 ## 真机遥操作数据
-数据集均以标准的 [LeRobot V2.1](https://github.com/huggingface/lerobot) 格式构造，示例Dataset代码，
+真机数据由启元机器人提供，数据集均以标准的 [LeRobot V2.1](https://github.com/huggingface/lerobot) 格式构造，示例Dataset代码，
 ```
 pip install "lerobot==0.3.3" "mmengine==0.10.7" "torch==2.7.0" "numpy==1.26.4" "torchcodec==0.5" "torchvision==0.22.0"
 
@@ -210,7 +532,7 @@ python dataloader/custom_lerobot_dataset.py
 
 
 ## UMI数据
-本目录是一个标准的 **LeRobot v2.1** 数据集，包含 5 个双手操作 episode，以及左、右手腕载 ego 相机数据。
+UMI数据由[上海朗智格机器人科技有限公司](http://crobotia.com/)提供，构造为标准的 **LeRobot v2.1** 数据集，包含 5 个双手操作 episode，以及左、右手腕载 ego 相机数据。
 
 ```bash
 pip install "lerobot==0.3.3"