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@@ -58,3 +58,40 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+USB_plug/USB_plug.z02 filter=lfs diff=lfs merge=lfs -text
+USB_plug/USB_plug.z01 filter=lfs diff=lfs merge=lfs -text
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diff --git a/README.md b/README.md
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index 0000000000000000000000000000000000000000..e93fb81a97a724d296d1ec53d11db68914310c12
--- /dev/null
+++ b/README.md
@@ -0,0 +1,89 @@
+---
+pretty_name: PAM19
+language:
+- en
+tags:
+- robotics
+- tactile-sensing
+- imitation-learning
+- franka-panda
+- open-x-tactile
+---
+
+# PAM19
+
+PAM19 is a real-world Franka Panda tactile-manipulation dataset containing
+1,904 trajectories across 19 tasks. Demonstrations were collected in joint
+space with two RGB cameras and two Xense vision-based tactile sensors, then
+converted to FTP-1-compatible Zarr format.
+
+The dataset follows the
+[Open-X-Tactile](https://open-x-tactile.github.io/) / FTP-1 data convention.
+
+## Dataset summary
+
+- Robot: Franka Panda with a parallel gripper
+- Tactile sensor: Xense, two gripper-side image streams
+- RGB streams: main camera and wrist camera
+- Tasks: 19
+- Trajectories: 1,904
+- Frames: 2,061,059
+- Control/state representation: 7 arm joints and one gripper-opening scalar
+- Image resolution in Zarr: 224 × 224
+
+## Tasks
+
+- `USB_plug`
+- `cable_routing`
+- `cut`
+- `cut_long`
+- `drop`
+- `erase`
+- `network_cable`
+- `peelCucumber`
+- `pick`
+- `pick_easy`
+- `plug_in`
+- `pour`
+- `screw_vitmain`
+- `screw_xuebi`
+- `screw_yibao`
+- `screw_yuanqi`
+- `tiny_pickA`
+- `tiny_pickAB`
+- `tiny_pickB`
+
+## Files
+
+Each task directory contains one store-only split ZIP archive of an
+FTP-1-compatible `<task>.zarr` directory. The split size is 10 GiB. Small
+tasks may contain only a `.zip` file; larger tasks also contain `.z01`,
+`.z02`, and subsequent parts.
+
+To reconstruct and extract a split archive:
+
+```bash
+zip -s 0 <task>/<task>.zip --out <task>/<task>-full.zip
+unzip <task>/<task>-full.zip
+```
+
+## Main Zarr fields
+
+- `timestamps`
+- `camera_main_rgb`
+- `right_wrist_camera_rgb`
+- `right_arm_joints`
+- `right_hand_joints`
+- `right_hand_joints_idx`
+- `right_tactile_data_gripper`
+- `right_tactile_area_gripper`
+- `right_tactile_sensor_gripper`
+- `right_tactile_type_gripper`
+- `sub_task_instruction`
+
+The gripper scalar uses canonical hand slot 28. The two tactile channels are
+stored in left/right order with functional-area indices `[0, 1]`.
+
+## Contact
+
+e1373933@u.nus.edu
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