Complete verified dataset release

README.md

@@ -1,7 +1,101 @@
 ---
 license: apache-2.0
+language:
+- en
+- zh
+task_categories:
+- robotics
+tags:
+- robotics
+- robot-learning
+- bimanual-manipulation
+- video
+- webdataset
+size_categories:
+- 100K<n<1M
+configs:
+- config_name: agilex
+  data_files:
+  - split: train
+    path: data/agilex/train/*.tar
+  - split: validation
+    path: data/agilex/validation/*.tar
+- config_name: franka
+  data_files:
+  - split: train
+    path: data/franka/train/*.tar
+  - split: validation
+    path: data/franka/validation/*.tar
+- config_name: ur5
+  data_files:
+  - split: train
+    path: data/ur5/train/*.tar
+  - split: validation
+    path: data/ur5/validation/*.tar
 ---
 
 # RoboMIND 2.0 processed episodes
 
-The dataset upload is in progress. The full dataset card and verified shard inventory will be available when the release is complete.
+A processed subset of [RoboMIND 2.0](https://modelscope.cn/datasets/X-Humanoid/RoboMIND2.0)
+containing **134,537 episodes** and approximately **846 hours** of bimanual robot demonstrations.
+This is a derivative release, with credit to the original RoboMIND authors.
+
+| Robot | Training episodes | Validation episodes |
+| --- | ---: | ---: |
+| AgileX | 19,027 | 2,084 |
+| Franka | 60,069 | 6,616 |
+| UR5 | 42,005 | 4,736 |
+| Total | 121,101 | 13,436 |
+
+The subset contains successful demonstrations with usable video and state/action streams.
+Identical recorded payloads are deduplicated; alternate task instructions are retained in
+`source_aliases` when present. Episodes with missing, incompatible, or frozen camera streams
+are excluded. This release does not contain every embodiment or episode in the upstream dataset.
+
+## Format
+
+Files are grouped into uncompressed WebDataset TAR shards of approximately 4 GiB under
+`data/<robot>/<split>/`. Each episode has a stable key and three members:
+
+- `<key>.mp4`: H.264 RGB video, with top, left-wrist, and right-wrist views stacked vertically.
+  Each view is letterboxed to 640 × 480, giving a combined frame of 640 × 1440.
+- `<key>.bin`: contiguous, row-major, little-endian float64 state/action values.
+- `<key>.json`: task instructions, frame rate, frame count, column layout, camera layout,
+  source episode identifiers, and other data interpretation metadata.
+
+Video frame rates are capped at 30 fps, retaining lower native rates. One binary row corresponds
+to one video frame. The exact frame rate and retained source frame indices are provided per episode.
+AgileX and UR5 have 28 columns per row; Franka has 32. Read `row_layout.columns` for the exact order.
+Robot joint values are in radians. Grippers are normalized to 0 = closed and 1 = open.
+States describe the robot arms and actions describe the recorded leader arms, without added lag.
+Camera calibration is unavailable and represented as `null`.
+
+For an extracted episode:
+
+```python
+import json
+import numpy as np
+
+with open("<key>.json", encoding="utf-8") as stream:
+    metadata = json.load(stream)
+rows = np.fromfile("<key>.bin", dtype="<f8").reshape(
+    metadata["num_steps"], metadata["row_layout"]["floats_per_row"]
+)
+```
+
+The archive members contain the exported video and state/action bytes. Episode metadata is
+reduced to public data fields. `dataset_info.json` summarizes the release and `shards.jsonl`
+lists archive sizes, episode counts, and SHA-256 checksums.
+
+## Source and license
+
+Upstream sources are [X-Humanoid/RoboMIND2.0-Agilex](https://modelscope.cn/datasets/X-Humanoid/RoboMIND2.0-Agilex),
+[RoboMIND2.0-Franka](https://modelscope.cn/datasets/X-Humanoid/RoboMIND2.0-Franka-Part-1)
+(parts 1–5), and [RoboMIND2.0-UR5](https://modelscope.cn/datasets/X-Humanoid/RoboMIND2.0-UR5).
+They are distributed under Apache License 2.0, retained for this processed release; see `LICENSE`.
+Changes include video encoding and resizing, temporal sampling, state/action formatting,
+gripper normalization, filtering, deduplication, and dataset splits.
+
+Please cite the original work:
+Chengkai Hou et al. (2025), [RoboMIND 2.0: A Multimodal, Bimanual Mobile Manipulation Dataset
+for Generalizable Embodied Intelligence](https://arxiv.org/abs/2512.24653).