Fix README: apple task, FP32/43-DoF, annotation field, 640x480 ego-view

README.md

@@ -7,7 +7,7 @@ tags:
 ---
 ## Dataset Description:
 
-The Arena-G1-Static-PickNPlace-Task dataset is a multimodal collection of trajectories generated in Isaac Lab. It supports humanoid (G1) loco-manipulation task in IsaacLab-Arena environment. Each entry provides the full context (state, vision, language, action) needed to train and evaluate generalist robot policies for a box pick-and-place task.
+The Arena-G1-Static-PickNPlace-Task dataset is a multimodal collection of trajectories generated in Isaac Lab. It supports humanoid (G1) loco-manipulation task in IsaacLab-Arena environment. Each entry provides the full context (state, vision, language, action) needed to train and evaluate generalist robot policies for an apple pick-and-place task.
 
 | Dataset Name              | # Trajectories |
 |---------------------------|----------------|
@@ -52,21 +52,20 @@ We provide a few dataset files, including
 Each demo in GR00T-Lerobot datasets consists of a time-indexed sequence of the following modalities:
 
 ### Actions
-- action (FP64): joint desired positions for all body joints (26 DoF)
+- action (FP32): joint desired positions for all body joints (43 DoF)
 
 ### Observations
-- observation.state (FP64): joint positions for all body joints (26 DoF)
+- observation.state (FP32): joint positions for all body joints (43 DoF)
 
 ### Task-specific
 - timestamp (FP64): simulation time in seconds of each recorded data entry.
-- annotation.human.action.task_description (INT64): index referring to the language instruction recorded in the metadata
-- annotation.human.action.valid (INT64): index indicating validity of annotaion recorded in the metadata
+- annotation.human.task_description (INT64): index referring to the language instruction recorded in the metadata
 - episode_index (INT64): index indicating the order of each demo
 - task_index (INT64): index used in multi-task data loader. Not applicable to Gr00t-N1 post training, always set to 0.
 
 
 ### Videos
-- 256 x 256 RGB videos in mp4 format from first-person-view camera
+- 640 x 480 RGB videos in mp4 format from an egocentric (ego-view) camera
 
 In additional, a set of metadata describing the followings is provided,
 - `episodes.jsonl` contains a list of all the episodes in the entire dataset. Each episode contains a list of tasks and the length of the episode.