Dataset card: stats + collection link

README.md

@@ -13,9 +13,17 @@ configs:
 
 # Target (Human) — composite-seen
 
-Human teleoperation target-dataset data for 16 composite tasks also represented in the pretraining datasets ('composite-seen'). 500 demos/task across 10 target kitchens.
+Human teleoperation data for 16 composite tasks (500 demos/task) recorded in 10 held-out target kitchens. All tasks are also represented in the pretraining datasets ('composite-seen').
 
-Flat LeRobot v3.0 mirror of the [RoboCasa365](https://robocasa.ai/docs/build/html/datasets/datasets_overview.html) **Target (Human) composite-seen** split (16 tasks / 500 demos per task). Part of the [ember-lab-berkeley/robocasa365 collection](https://huggingface.co/collections/ember-lab-berkeley/robocasa365).
+Part of the [**RoboCasa365 collection**](https://huggingface.co/collections/ember-lab-berkeley/robocasa365). Flat LeRobot v3.0 mirror of [RoboCasa365](https://robocasa.ai) — standard layout, drop-in loadable.
+
+## Stats
+
+- Episodes: **8,077**
+- Frames: **6,002,265** (20 fps → 83 h)
+- Tasks: **382** (natural-language phrasings; underlying RoboCasa task classes: 16)
+- Cameras: 3 × 256×256 h264 video (`robot0_agentview_left` / `_right` / `_eye_in_hand`)
+- Robot: PandaOmron (Panda 7-DoF arm + Omron mobile base + torso lift)
 
 ## Loading
 
@@ -24,22 +32,17 @@ from lerobot.datasets.lerobot_dataset import LeRobotDataset
 ds = LeRobotDataset("ember-lab-berkeley/robocasa365-target-composite-seen")
 ```
 
-## Stats
-
-See `meta/info.json` for authoritative episode/frame counts, feature schema, and fps. All 6 robocasa365-* repos share the same feature schema:
-
-- `observation.state`: float64[16] — base_pos(3) + base_quat(4) + eef_pos_rel(3) + eef_quat_rel(4) + gripper_qpos(2)
-- `action`: float64[12] — base_motion(4) + control_mode(1) + eef_delta_pos(3) + eef_delta_aa(3) + gripper(1)
-- `observation.images.robot0_agentview_left` / `_right` / `_eye_in_hand`: video, 256x256x3, h264, 20 fps
-- Robot: PandaOmron (Panda 7-DoF arm + Omron mobile base + torso)
+## Feature schema (shared across all 6 robocasa365 repos)
 
-**control_mode semantics:** `-1` = arm active, `+1` = base active. Source-of-truth: `robosuite.controllers.composite.HybridMobileBase`.
+- `observation.state`: float64[16] — `base_pos(3) + base_quat(4) + eef_pos_rel(3) + eef_quat_rel(4) + gripper_qpos(2)`
+- `action`: float64[12] — `base_motion(4) + control_mode(1) + eef_delta_pos(3) + eef_delta_aa(3) + gripper(1)`
+  - `control_mode` convention: **`-1` = arm active** (eef delta + gripper drive), **`+1` = base active** (base_motion drives). Source of truth: `robosuite.controllers.composite.HybridMobileBase`.
+- `observation.images.robot0_agentview_left` / `_right` / `_eye_in_hand`: video, 256×256×3
 
 ## License
 
-MIT, inherited from [RoboCasa365](https://github.com/robocasa/robocasa).
+MIT, inherited from [upstream RoboCasa365](https://github.com/robocasa/robocasa).
 
-## Related
+## Citation
 
-- Archival nested layout (per-task browsable): [robocasa-kitchen-demos-v3](https://huggingface.co/datasets/ember-lab-berkeley/robocasa-kitchen-demos-v3)
-- Upstream project: [RoboCasa](https://robocasa.ai) ([paper](https://robocasa.ai/assets/robocasa365_iclr26.pdf))
+[RoboCasa365 paper (ICLR 2026)](https://robocasa.ai/assets/robocasa365_iclr26.pdf)