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README.md

@@ -1,16 +1,30 @@
 ---
+license: mit
 task_categories:
 - robotics
 tags:
 - LeRobot
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
 ---
+
 This dataset was created using [LeRobot](https://github.com/huggingface/lerobot).
 
-[meta/info.json](meta/info.json)
+## Dataset Description
+
+
+
+- **Homepage:** https://toto-benchmark.org/
+- **Paper:** https://arxiv.org/abs/2306.00942
+- **License:** mit
+
+## Dataset Structure
+
+[meta/info.json](meta/info.json):
 ```json
 {
     "codebase_version": "v2.0",
-    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
     "robot_type": "unknown",
     "total_episodes": 1003,
     "total_frames": 325699,
@@ -22,56 +36,134 @@ This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
     "splits": {
         "train": "0:1003"
     },
-    "keys": [
-        "observation.state",
-        "action"
-    ],
-    "video_keys": [
-        "observation.images.image"
-    ],
-    "image_keys": [],
-    "shapes": {
-        "observation.state": 8,
-        "action": 7,
-        "observation.images.image": {
-            "width": 640,
-            "height": 480,
-            "channels": 3
-        }
-    },
-    "names": {
-        "observation.state": [
-            "motor_0",
-            "motor_1",
-            "motor_2",
-            "motor_3",
-            "motor_4",
-            "motor_5",
-            "motor_6",
-            "motor_7"
-        ],
-        "action": [
-            "motor_0",
-            "motor_1",
-            "motor_2",
-            "motor_3",
-            "motor_4",
-            "motor_5",
-            "motor_6"
-        ]
-    },
-    "videos": {
-        "videos_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "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",
+    "features": {
         "observation.images.image": {
-            "video.fps": 30.0,
-            "video.width": 640,
-            "video.height": 480,
-            "video.channels": 3,
-            "video.codec": "av1",
-            "video.pix_fmt": "yuv420p",
-            "video.is_depth_map": false,
-            "has_audio": false
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channel"
+            ],
+            "video_info": {
+                "video.fps": 30.0,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "has_audio": false
+            }
+        },
+        "language_instruction": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                8
+            ],
+            "names": {
+                "motors": [
+                    "motor_0",
+                    "motor_1",
+                    "motor_2",
+                    "motor_3",
+                    "motor_4",
+                    "motor_5",
+                    "motor_6",
+                    "motor_7"
+                ]
+            }
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": {
+                "motors": [
+                    "motor_0",
+                    "motor_1",
+                    "motor_2",
+                    "motor_3",
+                    "motor_4",
+                    "motor_5",
+                    "motor_6"
+                ]
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
         }
     }
 }
+```
+
+
+## Citation
+
+**BibTeX:**
+
+```bibtex
+@inproceedings{zhou2023train,
+    author={Zhou, Gaoyue and Dean, Victoria and Srirama, Mohan Kumar and Rajeswaran, Aravind and Pari, Jyothish and Hatch, Kyle and Jain, Aryan and Yu, Tianhe and Abbeel, Pieter and Pinto, Lerrel and Finn, Chelsea and Gupta, Abhinav},
+    booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)},
+    title={Train Offline, Test Online: A Real Robot Learning Benchmark},
+    year={2023},
+}
 ```