Dataset card: each participant drove their own routes; drop the controls note

README.md

@@ -99,7 +99,7 @@ Evaluation with retrieval opens the camera frames of the retrieved demonstration
 
 <img src="assets/hardware_rig.jpg" width="45%" align="right" alt="Driver-in-the-loop rig">
 
-15 participants drove CARLA Leaderboard routes at a driver-in-the-loop rig with a real wheel and pedals. The recording code is released with PersonaDrive ([`human_data_collection/`](https://github.com/PervasiveAutonomyLab/PersonaDrive/tree/main/human_data_collection)). They drove the same routes three times, each time under a different instruction:
+15 participants drove CARLA Leaderboard routes at a driver-in-the-loop rig with a real wheel and pedals. The recording code is released with PersonaDrive ([`human_data_collection/`](https://github.com/PervasiveAutonomyLab/PersonaDrive/tree/main/human_data_collection)). Each participant drove each of their routes three times, each time under a different instruction:
 
 | Folder | Style | What the driver was told |
 |---|---|---|
@@ -114,7 +114,7 @@ Evaluation with retrieval opens the camera frames of the retrieved demonstration
 
 **Protocol.**
 - **Disjoint from evaluation:** routes were drawn at random from the CARLA Leaderboard route sets, and none of them is a Bench2Drive evaluation route. They share the scenario taxonomy, so a retrieved demonstration can be relevant to an evaluation situation, but no evaluation episode is in the dataset.
-- **Three passes:** each participant drove the routes once per instruction, in randomized order, so that style is not confounded with route familiarity.
+- **Three passes:** each participant drove each of their routes once per instruction, in randomized order, so that style is not confounded with route familiarity.
 - **Supervision:** participants were supervised to make sure they followed the instructions.
 - **Anonymity:** `driver<N>` is an anonymous participant index. The same index refers to the same participant in all three styles.
 
@@ -129,7 +129,7 @@ Evaluation with retrieval opens the camera frames of the retrieved demonstration
 **What is recorded.** Each route stores, at 4 Hz:
 - the front camera image, plus a shifted-camera copy used for augmentation;
 - the ego state from CARLA (speed, pose), which follows the participant's driving;
-- the controls `throttle`, `steer` and `brake` in `measurements.json`. These are the controls of SimLingo's privileged autopilot, which runs alongside the participant on every frame. The participant's own wheel and pedal inputs are recorded by the rig but are not part of this release;
+- the controls `throttle`, `steer` and `brake` in `measurements.json`;
 - the navigation command and the next GPS target points from CARLA's route planner;
 - the objects around the ego vehicle: vehicles, pedestrians, traffic signs, traffic-light states.