Translate dataset card to English

README.md

@@ -3,7 +3,6 @@ pretty_name: Tower-SimData
 license: cc-by-4.0
 language:
 - en
-- zh
 tags:
 - robotics
 - bimanual-manipulation
@@ -15,11 +14,11 @@ tags:
 
 # Tower-SimData
 
-Tower-SimData 是面向双臂 Jenga 操作研究的仿真示教数据集。每个 Episode 保存为一个独立 HDF5，包含双臂状态与命令、末端位姿、四路 JPEG 相机和仿真任务状态。
+Tower-SimData is a simulated demonstration dataset for research on bimanual Jenga manipulation. Each episode is stored as an independent HDF5 file containing bimanual robot states and commands, end-effector poses, four JPEG camera streams, and simulation task states.
 
-数据集主页：<https://huggingface.co/datasets/tower-benchmark/TOWER-SimData>
+Dataset repository: <https://huggingface.co/datasets/tower-benchmark/TOWER-SimData>
 
-## 数据规模
+## Dataset Size
 
 | Task | Name | Public folder | Episodes | Frames | Size |
 |---|---|---|---:|---:|---:|
@@ -31,9 +30,9 @@ Tower-SimData 是面向双臂 Jenga 操作研究的仿真示教数据集。每
 | Task3-3 | Vertical Stacking, 3 layers | `task3-3_vertical_stacking_3` | 55 | 140,900 | 32.55 GiB |
 | **Total** |  |  | **331** | **983,758** | **225.27 GiB** |
 
-公开版本不预设训练集和测试集，331 个 Episode 统一发布。使用者应根据自己的实验协议划分数据并记录划分方式。
+The public release does not define an official training or test split. All 331 episodes are released together. Users should create and document splits that match their experimental protocol.
 
-## 目录
+## Repository Layout
 
 ```text
 data/
@@ -49,47 +48,47 @@ CHECKSUMS.sha256
 schema/tower_simdata_hdf5.json
 ```
 
-`MANIFEST.jsonl`记录每个Episode的相对路径、帧数、文件大小、SHA256、采集日期和Schema变体；`CHECKSUMS.sha256`用于下载完整性校验。
+`MANIFEST.jsonl` records the relative path, frame count, file size, SHA256 digest, collection date, and schema variant of every episode. `CHECKSUMS.sha256` can be used to verify download integrity.
 
-## 任务定义
+## Task Definitions and Naming
 
-`N`表示任务编号，`L`和`X`都表示积木结构层数。目录统一使用`taskN-L_任务名称`，例如`task1-2_tower_transfer_2`表示 Task1 的2层数据。
+`N` denotes the task index. `L` and `X` denote the number of layers in the block structure. Public folders follow `taskN-L_task_name`; for example, `task1-2_tower_transfer_2` contains the two-layer variant of Task1.
 
-| Task | 中文名称 | 英文目录格式 |
+| Task | Task name | Folder naming pattern |
 |---|---|---|
-| Task1 | 双块塔转移 | `task1-X_tower_transfer_X` |
-| Task2 | 十字塔转移 | `task2-X_cross_tower_transfer_X` |
-| Task3 | 竖直重叠堆叠 | `task3-X_vertical_stacking_X` |
+| Task1 | Tower Transfer | `task1-X_tower_transfer_X` |
+| Task2 | Cross Tower Transfer | `task2-X_cross_tower_transfer_X` |
+| Task3 | Vertical Stacking | `task3-X_vertical_stacking_X` |
 
-## HDF5核心字段
+## Core HDF5 Fields
 
 | Field | Shape | Description |
 |---|---|---|
-| `observations/qpos` | `[T,16]` | 双臂实测状态：每臂7个关节加1个夹爪 |
-| `leader/qpos` | `[T,16]` | 双臂绝对控制命令：每臂7个关节加1个夹爪 |
-| `observations/gripper_status` | `[T,8]` | 两个夹爪的扩展状态，每个夹爪4维 |
-| `observations/eef` | `[T,14]` | 双臂末端位姿，`xyz + quaternion(xyzw)` |
-| `leader/eef` | `[T,14]` | 控制端末端位姿 |
-| `observations/lifter/position_mm` | `[T,2]` | 左、后升降平台的位置读数 |
-| `observations/lifter/physical_height_mm` | `[T,2]` | 左、后升降平台的物理高度 |
-| `observations/lifter/is_moving` | `[T,2]` | 升降平台是否正在运动 |
-| `observations/lifter/valid` | `[T,2]` | 升降平台观测是否有效 |
-| `lifter/action_mm` | `[T,2]` | 左、后升降平台的绝对动作命令 |
-| `lifter/active_target_mm` | `[T,2]` | 当前生效的升降目标 |
-| `lifter/command_delta_mm` | `[T,2]` | 相邻升降命令的变化量 |
-| `observations/images/*` | `[T]` | 四路变长JPEG图像 |
-| `sim/time` | `[T]` | 严格递增的仿真时间 |
-| `sim/action_valid` | `[T]` | 动作有效标记，终行是`false` |
-| `sim/terminal` | `[T]` | Episode终止标记 |
-| `sim/success` | `[T]` | 任务成功状态 |
-
-双臂顺序固定为`left, back`。相机为`left_back_camera`、`right_front_camera`、`left_wrist_camera`和`back_wrist_camera`。原始采样率为30 FPS。
-
-所有任务统一使用`tower_simdata_hdf5` Schema，37个必选字段及可选字段定义见`schema/tower_simdata_hdf5.json`。`keyframes`为通用可选字段，Task2/3 还可包含`sim/finger_pad_centers_m`接触点字段。
-
-### 18维Action定义
-
-公开HDF5将18维动作拆成两个同步字段保存，而不是额外复制一份`action[T,18]`：
+| `observations/qpos` | `[T,16]` | Recorded bimanual state: seven arm joints and one gripper value per arm |
+| `leader/qpos` | `[T,16]` | Absolute bimanual control commands: seven arm joints and one gripper value per arm |
+| `observations/gripper_status` | `[T,8]` | Extended gripper state, four values per gripper |
+| `observations/eef` | `[T,14]` | Bimanual end-effector poses as `xyz + quaternion(xyzw)` |
+| `leader/eef` | `[T,14]` | Command-side end-effector poses |
+| `observations/lifter/position_mm` | `[T,2]` | Left and back lifter position readings |
+| `observations/lifter/physical_height_mm` | `[T,2]` | Physical heights of the left and back lifters |
+| `observations/lifter/is_moving` | `[T,2]` | Whether each lifter is moving |
+| `observations/lifter/valid` | `[T,2]` | Whether each lifter observation is valid |
+| `lifter/action_mm` | `[T,2]` | Absolute commands for the left and back lifters |
+| `lifter/active_target_mm` | `[T,2]` | Active target of each lifter |
+| `lifter/command_delta_mm` | `[T,2]` | Difference between consecutive lifter commands |
+| `observations/images/*` | `[T]` | Four variable-length JPEG camera streams |
+| `sim/time` | `[T]` | Strictly increasing simulation time |
+| `sim/action_valid` | `[T]` | Action-valid flag; the final row is `false` |
+| `sim/terminal` | `[T]` | Episode termination flag |
+| `sim/success` | `[T]` | Task success state |
+
+The fixed arm order is `left, back`. The four cameras are `left_back_camera`, `right_front_camera`, `left_wrist_camera`, and `back_wrist_camera`. The source sampling rate is 30 FPS.
+
+All tasks use the unified `tower_simdata_hdf5` schema. The 37 required fields and optional fields are defined in `schema/tower_simdata_hdf5.json`. `keyframes` is an optional general-purpose field. Task2 and Task3 episodes may additionally contain the `sim/finger_pad_centers_m` contact-point field.
+
+### 18-Dimensional Action Convention
+
+The public HDF5 files store the 18-dimensional action in two synchronized fields instead of duplicating it as an additional `action[T,18]` dataset:
 
 ```text
 action[18] = concat(
@@ -105,11 +104,11 @@ leader/qpos[16] = [
 lifter/action_mm[2] = [left_lifter, back_lifter]
 ```
 
-J1–J7单位为弧度，夹爪为连续绝对开合量，升降平台单位为毫米。使用者在构造18维向量时必须按上述顺序拼接，不能对三类物理量直接使用同一量纲解释。
+J1–J7 are measured in radians, gripper values are continuous absolute opening commands, and lifter commands are measured in millimeters. These quantities must be concatenated in the order above and must not be interpreted as sharing one physical unit.
 
-## 分任务相机预览
+## Camera Previews
 
-每张图使用该任务一个代表Episode，第一行为开始帧、第二行为结束帧；每行依次展示四路相机。
+Each preview uses one representative episode. The first row shows the initial frame and the second row shows the final frame. Within each row, the four camera views are shown in a fixed order.
 
 ### Task1-2 · `task1-2_tower_transfer_2`
 
@@ -135,7 +134,7 @@ J1–J7单位为弧度，夹爪为连续绝对开合量，升降平台单位为
 
 ![Task3-3 start and end](previews/task3-3_vertical_stacking_3_start_end.jpg)
 
-## 使用
+## Reading and Verification
 
 ```bash
 pip install h5py
@@ -151,8 +150,8 @@ PY
 sha256sum --check CHECKSUMS.sha256
 ```
 
-数据保留原始30 FPS时序，未应用面向特定模型的动作变换或归一化。
+The dataset preserves the original 30 FPS timeline. No model-specific action transformation or normalization has been applied.
 
-## License and citation
+## License and Citation
 
-The dataset is released under the [Creative Commons Attribution 4.0 International License](LICENSE). If you use it, cite the metadata in [`CITATION.cff`](CITATION.cff).
+Tower-SimData is released under the [Creative Commons Attribution 4.0 International License](LICENSE). If you use this dataset, please cite the metadata in [`CITATION.cff`](CITATION.cff).