Update README.md

README.md

@@ -11,6 +11,39 @@ configs:
 - config_name: default
   data_files: data/*/*.parquet
 ---
+# PushT Dataset
+
+This dataset contains demonstrations for the PushT environment, a robotic manipulation task where an agent needs to push a T-shaped object onto a matching target surface.
+Each episode is initialized with a **randomized** T-block and target position and orientation to ensure a more realistic scenario.
+
+## Environment Details
+
+The dataset was collected using the [gym-pusht](https://github.com/huggingface/gym-pusht) environment, which provides a simple 2D robotic pushing task.
+
+- **Task**: Push the T-shaped gray block onto the T-shaped green target surface using the blue pointer.
+- **Observation Space**: RGB images (96×96×3) and agent position (2D coordinates)
+- **Action Space**: 2D coordinates for the agent position
+- **Success Condition**: The T-shaped block overlaps sufficiently with the target surface
+- **Randomized Goals**: This dataset uses a variation of the environment with `randomize_goal=True`, which randomizes the goal position for each episode, creating a more diverse and challenging dataset.
+
+## Dataset Creation
+
+This dataset was created through human demonstrations where a single human operator provided demonstrations of successful task completion. 
+
+### Dataset Composition
+
+- **States**: RGB images and agent position coordinates
+- **Actions**: 2D position commands for the agent
+- **Rewards**: Sparse rewards based on task completion
+  - **Metadata**: Success flags and episode information 
+
+## Usage
+
+This dataset is intended for training imitation learning and reinforcement learning policies for object manipulation tasks.
+
+### Loading the Dataset
+
+
 
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
@@ -29,15 +62,15 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 {
     "codebase_version": "v2.1",
     "robot_type": "2d pointer",
-    "total_episodes": 1,
-    "total_frames": 84,
+    "total_episodes": 101,
+    "total_frames": 9438,
     "total_tasks": 1,
     "total_videos": 0,
     "total_chunks": 1,
     "chunks_size": 1000,
     "fps": 10,
     "splits": {
-        "train": "0:1"
+        "train": "0:101"
     },
     "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",