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README.md

@@ -1,28 +1,24 @@
 ---
 license: apache-2.0
 task_categories:
-  - robotics
+- robotics
 tags:
-  - lerobot
-  - so101
-  - manipulation
-  - pick-and-place
-  - simulation
-  - mujoco
+- lerobot
+- so101
+- manipulation
+- pick-and-place
+- simulation
+- mujoco
 configs:
-  - config_name: default
-    data_files:
-      - split: train
-        path: "data/**/*.parquet"
+- config_name: default
+  data_files:
+  - split: train
+    path: data/**/*.parquet
 ---
 
 # SO-101 Pick Cube Dataset
 
-<p align="center">
-  <img src="preview.png" alt="Dataset Preview" width="800"/>
-</p>
-
-A robotics manipulation dataset featuring the **SO-101 robot arm** performing pick-and-place tasks in MuJoCo simulation. The robot learns to pick up a cube and place it into a bin.
+A large-scale robotics manipulation dataset featuring the SO-101 robot arm performing pick-and-place tasks in MuJoCo simulation. The robot learns to pick up a cube and place it into a bin.
 
 ## Dataset Details
 
@@ -30,68 +26,42 @@ A robotics manipulation dataset featuring the **SO-101 robot arm** performing pi
 |----------|-------|
 | Robot | SO-101 (6-DoF arm with gripper) |
 | Task | Pick cube and place in bin |
-| Episodes | 993 |
+| Episodes | 10,993 |
+| Total Frames | 1,456,901 |
 | FPS | 30 |
 | Cameras | 3 (front, overhead, wrist) |
 | Resolution | 640x480 |
-| Format | LeRobot v2.0 |
+| Format | LeRobot v3.0 |
 
 ## Cameras
 
-- **Front Camera**: Third-person view of the workspace
-- **Overhead Camera**: Top-down bird's eye view
-- **Wrist Camera**: First-person view from the gripper
+- **Front Camera**: External view of the robot and workspace
+- **Overhead Camera**: Top-down view of the workspace
+- **Wrist Camera**: Mounted on the robot's wrist for close-up manipulation view
 
-## Joint States
+## State/Action Space
 
-The dataset includes 6 joint positions and actions:
-- `shoulder_pan` - Base rotation
-- `shoulder_lift` - Shoulder elevation
-- `elbow_flex` - Elbow bend
-- `wrist_flex` - Wrist pitch
-- `wrist_roll` - Wrist rotation
-- `gripper` - Gripper open/close
+6 joints: `shoulder_pan`, `shoulder_lift`, `elbow_flex`, `wrist_flex`, `wrist_roll`, `gripper`
 
-## Usage
+## Usage with LeRobot
 
 ```python
 from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 
 dataset = LeRobotDataset("gpudad/so101_pick_cube")
-print(f"Number of episodes: {dataset.num_episodes}")
-print(f"Number of frames: {dataset.num_frames}")
+print(f"Episodes: {dataset.num_episodes}")
+print(f"Frames: {dataset.num_frames}")
 ```
 
-### Training with LeRobot
+## Training
 
 ```bash
-# Train ACT policy
 python lerobot/scripts/train.py \
   --dataset.repo_id=gpudad/so101_pick_cube \
-  --policy=act \
-  --output_dir=outputs/act_so101_pick_cube
+  --policy.type=act \
+  --env.type=so101_pick_cube
 ```
 
-## Environment
-
-The simulation environment uses MuJoCo with:
-- SO-101 robot arm mounted on a table
-- A colored cube as the manipulation target
-- A bin as the placement destination
-- Randomized cube positions for diverse training data
-
 ## License
 
-This dataset is released under the Apache 2.0 License.
-
-## Citation
-
-```bibtex
-@dataset{so101_pick_cube_2025,
-  title={SO-101 Pick Cube Dataset},
-  author={gpudad},
-  year={2025},
-  publisher={Hugging Face},
-  url={https://huggingface.co/datasets/gpudad/so101_pick_cube}
-}
-```
+Apache 2.0