Create README.md

README.md

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+---
+language: en
+tags:
+- robotics
+- grasping
+- dual-arm
+- SE(3) x SE(3)
+- point-cloud
+- physics
+- dual-arm grasping
+
+license: apache-2.0
+datasets:
+- dg16m-grasps
+size_categories:
+- 10K<n<100K
+---
+
+This is the dataset used in the paper, "<a href="https://arxiv.org/pdf/2509.21145">DAGDiff: Guiding Dual-Arm Grasp Diffusion to Stable and Collision-Free Grasps</a>". 
+
+<a href="https://dag-diff.github.io/dagdiff/">[Project Page]</a> <span> <a href="https://arxiv.org/abs/2509.21145">[arXiv]</a> <span> <a href="https://github.com/DAG-Diff/dual-arm-grasp-diffusion">[Github]</a>
+
+Each object in the dataset includes:
+- 3D mesh representations of the object
+- Signed distance field (SDF) data
+- Dual-arm grasp annotations (both positive and negative examples)
+- Split files for training and evaluation (e.g., `train_final.txt`, `test_final.txt`)
+
+## Dataset Structure
+
+```
+dagdiff-dataset
+├── train_final.txt
+├── test_final.txt
+|
+├── grasps/
+│   ├── 554fa306799d623af7248d9dbed7a7b8.h5
+│   ├── c2ad96f56ec726d270a43c2d978e502e.h5
+│   ├── ....
+|
+├── meshes/
+│   ├── 554fa306799d623af7248d9dbed7a7b8.obj
+│   ├── c2ad96f56ec726d270a43c2d978e502e.obj
+│   ├── ....
+|
+└── sdf/
+    ├── 554fa306799d623af7248d9dbed7a7b8.h5
+    ├── c2ad96f56ec726d270a43c2d978e502e.h5
+    └── ....
+```