Configure task subsets and image viewer

README.md

@@ -1,18 +1,105 @@
 ---
 license: other
+task_categories:
+- robotics
+tags:
+- LeRobot
+- image
+- video
+configs:
+- config_name: humanoidbench_balance_simple
+  default: true
+  data_files:
+  - split: train
+    path: zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot/data/chunk-*/*.parquet
+  - split: validation
+    path: zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot__val/data/chunk-*/*.parquet
+- config_name: mikasa_intercept_grab_fast
+  data_files:
+  - split: train
+    path: zero-latency/mikasa-intercept-grab-fast/teacher-rollouts-v1/lerobot/data/chunk-*/*.parquet
+  - split: validation
+    path: zero-latency/mikasa-intercept-grab-fast/teacher-rollouts-v1/lerobot__val/data/chunk-*/*.parquet
+dataset_info:
+- config_name: humanoidbench_balance_simple
+  features:
+  - name: observation.image
+    dtype: image
+  - name: observation.state
+    list: float32
+    length: 198
+  - name: action
+    list: float32
+    length: 43
+  - name: timestamp
+    dtype: float64
+  - name: episode_index
+    dtype: int64
+  - name: frame_index
+    dtype: int64
+  - name: task_index
+    dtype: int64
+  - name: latency
+    dtype: int64
+  - name: latency_raw_frames
+    dtype: int64
+  - name: done
+    dtype: bool
+  - name: reward
+    dtype: float32
+  - name: density_weight
+    dtype: float32
+- config_name: mikasa_intercept_grab_fast
+  features:
+  - name: observation.state
+    list: float32
+    length: 7
+  - name: action
+    list: float32
+    length: 7
+  - name: timestamp
+    dtype: float32
+  - name: frame_index
+    dtype: int64
+  - name: episode_index
+    dtype: int64
+  - name: index
+    dtype: int64
+  - name: task_index
+    dtype: int64
 ---
+
 # Latency-Sensitive Bench datasets
 
 Accepted zero-latency teacher rollouts for the supported benchmark tasks.
 
-## Layout
+## Viewer subsets
+
+- `humanoidbench_balance_simple`: 90 training and 10 validation episodes. The
+  `observation.image` values are PNG bytes declared as the Hugging Face `Image`
+  feature, so the Dataset Viewer renders them instead of showing their encoded
+  representation. Canonical LeRobot MP4 files remain under each split's
+  `videos/` directory.
+- `mikasa_intercept_grab_fast`: fixed 250/25 StarVLA split. RGB observations
+  are stored in the LeRobot MP4 files and are not duplicated in its Parquet
+  rows.
+
+## Repository layout
 
-- `zero-latency/mikasa-intercept-grab-fast/teacher-rollouts-v1/raw`: 275 successful source NPZ episodes.
-- `zero-latency/mikasa-intercept-grab-fast/teacher-rollouts-v1/lerobot`, `lerobot__val`, and `mikasa_intercept_grab_fast_h1.json`: fixed 250/25 StarVLA split and mixture.
-- `zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot` and `lerobot__val`: fixed 90/10 official GR00T split, including videos and metadata.
+- `zero-latency/mikasa-intercept-grab-fast/teacher-rollouts-v1/raw`: 275
+  successful source NPZ episodes.
+- `zero-latency/mikasa-intercept-grab-fast/teacher-rollouts-v1/lerobot`,
+  `lerobot__val`, and `mikasa_intercept_grab_fast_h1.json`: converted dataset
+  and StarVLA mixture.
+- `zero-latency/humanoidbench-balance-simple/teacher-rollouts-v1/lerobot` and
+  `lerobot__val`: official GR00T split, videos, and metadata.
 
-Extreme Parkour and HAIC datasets are intentionally not published until their current VLA pipelines pass their documented gates.
+Extreme Parkour and HAIC datasets are intentionally not published until their
+current VLA pipelines pass their documented gates.
 
-Historical source repositories remain unchanged: MIKASA dataset revision `28312021c634fa97f8068077dfd6eb0efe6d45ce` and Balance dataset revision `dbb954842942196e127c9acc0d776b62aa679990`.
+Historical source repositories remain unchanged: MIKASA dataset revision
+`28312021c634fa97f8068077dfd6eb0efe6d45ce` and Balance dataset revision
+`dbb954842942196e127c9acc0d776b62aa679990`.
 
-See the repository artifact registry for exact task contracts and reproduction commands.
+See the repository [artifact registry](https://github.com/ZihanWang314/latency-sensitive-bench/blob/master/docs/artifacts.md)
+for exact task contracts and reproduction commands.