Update dataset card

README.md

@@ -1,3 +1,53 @@
----
-license: mit
----
+---
+license: mit
+pretty_name: Scalable Real2Sim
+---
+
+# Scalable Real2Sim
+
+This repository hosts the benchmark dataset and model weights for **Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups**.
+
+- Project website: https://scalable-real2sim.github.io/
+- Paper: https://arxiv.org/abs/2503.00370
+- Code: https://github.com/nepfaff/scalable-real2sim
+
+## Repository Layout
+
+- `scalable_real2sim_benchmark_dataset/object_data/*.tar`: one archive per object directory under `object_data/`
+- `scalable_real2sim_benchmark_dataset/robot_system_id_data/`: unpacked robot system identification data
+- `scalable_real2sim_model_weights/`: unpacked model weights used by the pipeline
+
+The `object_data` subdirectories are stored as individual tar archives to keep the Hugging Face repository at a manageable file count while preserving object-level downloads.
+
+## Extraction
+
+To extract all object archives in place:
+
+```bash
+cd scalable_real2sim_benchmark_dataset/object_data
+for archive in *.tar; do
+  tar -xf "$archive"
+done
+```
+
+After extraction, `scalable_real2sim_benchmark_dataset/object_data/` will contain both the original `.tar` files and the extracted object directories. If you no longer need the archives locally, you can remove them after extraction.
+
+## Citation
+
+If you use this dataset or the associated assets, please cite:
+
+```bibtex
+@article{pfaff2025_scalable_real2sim,
+    author        = {Pfaff, Nicholas and Fu, Evelyn and Binagia, Jeremy and Isola, Phillip and Tedrake, Russ},
+    title         = {Scalable Real2Sim: Physics-Aware Asset Generation Via Robotic Pick-and-Place Setups},
+    year          = {2025},
+    eprint        = {2503.00370},
+    archivePrefix = {arXiv},
+    primaryClass  = {cs.RO},
+    url           = {https://arxiv.org/abs/2503.00370},
+}
+```
+
+## License
+
+This repository is released under the MIT License. See the accompanying `LICENSE` file for the full text.