Create README.md

README.md

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+## Dataset Description
+
+This is a fully annotated, synthetically generated dataset consisting of 1,000 demonstrations of a single Franka Panda robot arm performing a fixed-order three-cube stacking task in Isaac Lab. The robot consistently stacks cubes in the order: blue (bottom) → red (middle) → green (top).
+
+The dataset was produced using the following pipeline:
+- Collected 10 human teleoperation demonstrations of the stacking task.
+- Used Isaac Lab’s **Mimic** tool to simulate 1,000 high-quality trajectories in Isaac Sim.
+- Applied **Cosmos Transfer1** model to augment the RGB visuals from the table camera with photorealistic domain adaptation.
+
+Each demonstration includes synchronized multimodal data:
+- RGB videos from both a table-mounted and wrist-mounted camera.
+- Depth, segmentation, and surface normal maps from the table camera.
+- Full low-level robot and object states (joints, end-effector, gripper, cube poses).
+- Action sequences executed by the robot.
+
+This dataset is ideal for behavior cloning, policy learning, and generalist robotic manipulation research.  
+
+## Intended Usage
+
+This dataset is intended for:
+- Training robot manipulation policies using behavior cloning.
+- Research in generalist robotics and task-conditioned agents.
+- Sim-to-real transfer studies and visual domain adaptation.
+
+## Dataset Characterization
+
+**Data Collection Method**  
+  * Human Demonstration (seed data)  
+  * Synthetic Simulation (Isaac Lab Mimic)  
+  * Visual Augmentation (Cosmos Transfer1)  
+
+10 human teleoperated demonstrations were used to bootstrap a Mimic-based simulation in Isaac Sim. All 1,000 demos are generated automatically followed by domain-randomized visual augmentation.
+
+## Dataset Format
+
+Each demo consists of a time-indexed sequence of the following modalities:
+
+### Actions
+- 7D vector: 6D relative end-effector motion + 1D gripper action
+
+### Observations
+- `robot_states`: Joint positions, velocities, and gripper open/close state
+- `ee_states`: End-effector 6-DOF pose
+- `cube_states`: 6-DOF poses (position + quaternion) for blue, red, and green cubes
+- `images.table_camera`:
+  - 200×200 RGB (visually augmented using Cosmos Transfer1)
+  - 200×200 Depth
+  - 200×200 Segmentation mask
+  - 200×200 Surface normal map
+- `images.wrist_camera`:
+  - 200×200 RGB