Update README.md

README.md

@@ -14,17 +14,17 @@ PhysicalAI-Robotics-Manipulation-Kitchen is a dataset of automatic generated mot
 This dataset is available for commercial use.
 
 
-## Dataset Contact(s):
+## Dataset Contact(s)
 Fabio Ramos (ftozetoramos@nvidia.com) <br>
 Anqi Li (anqil@nvidia.com)
 
-## Dataset Creation Date:
+## Dataset Creation Date
 03/18/2025
 
-## License/Terms of Use: 
+## License/Terms of Use
 cc-by-4.0
 
-## Intended Usage:
+## Intended Usage
 This dataset is provided in LeRobot format and is intended for training robot policies and foundation models.
 
 ## Dataset Characterization
@@ -40,11 +40,14 @@ This dataset is provided in LeRobot format and is intended for training robot po
 Within the collection, there are eight datasets in LeRobot format `open_cabinet`, `close_cabinet`, `open_dishwasher`, `close_dishwasher`, `open_fridge`, close_fridge`, `open_drawer` and `close_drawer`. 
 * `open cabinet`: The robot opens a cabinet in the kitchen. <br>
 * `close cabinet`: The robot closes the door of a cabinet in the kitchen. <br>
-*
-* `place bench`: The robot starts with the object at the gripper and places it on the kitchen's bench top.
-* `place cabinet`: The robot starts with the object at the gripper and places it inside an opened cabinet.  
+* `open dishwasher`: The robot opens the door of a dishwasher in the kitchen. <br>
+* `close dishwasher`: The robot closes the door of a dishwasher in the kitchen. <br>
+* `open fridge`: The robot opens the fridge door. <br>
+* `close fridge`: The robot closes the fridge door. <br>
+* `open drawer`: The robot opens a drawer in the kitchen. <br>
+* `close drawer`: The robot closes a drawer in the kitchen. <br>
 
-The videos below show three examples of the tasks: 
+The videos below illustrate three examples of the tasks: 
 
 <div style="display: flex; justify-content: flex-start;">
 <img src="./assets/episode_000009.gif" width="300" height="300" alt="open_dishwasher" />
@@ -60,11 +63,13 @@ The videos below show three examples of the tasks:
   * observation.image.world__robot__right_arm_camera_color_frame__right_hand_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
   * observation.image.world__robot__left_arm_camera_color_frame__left_hand_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
   * observation.image.world__robot__camera_link__head_camera: 512x512 images of RGB, depth and semantic segmentation renderings stored as mp4 videos.
-The videos below illustrate the different camera modalities for a single trajectory. 
+
+
+The videos below illustrate three of the cameras used in the dataset. 
 <div style="display: flex; justify-content: flex-start;">
-<img src="./assets/episode_000057.gif" width="300" height="300" alt="rgb" />
-<img src="./assets/episode_000057_depth.gif" width="300" height="300" alt="depth" />
-<img src="./assets/episode_000057_semantic.gif" width="300" height="300" alt="semantic" />
+<img src="./assets/episode_000004_world.gif" width="300" height="300" alt="world" />
+<img src="./assets/episode_000004.gif" width="300" height="300" alt="head" />
+<img src="./assets/episode_000004_wrist.gif" width="300" height="300" alt="wrist" />
 </div>
 
 
@@ -82,10 +87,11 @@ Record Count:
   * number of episodes: 126
   * number of frames: 30322
   * number of videos: 1890 (630 RGB videos, 630 depth videos, 630 semantic segmentation videos)
+
 Total storage: 4.0 GB
 
 
-## Reference(s):
+## Reference(s)
 ```
 [1] @inproceedings{garrett2020pddlstream,
   title={Pddlstream: Integrating symbolic planners and blackbox samplers via optimistic adaptive planning},
@@ -106,7 +112,7 @@ Total storage: 4.0 GB
 }
 ```
 
-## Ethical Considerations:
+## Ethical Considerations
 NVIDIA believes Trustworthy AI is a shared responsibility and we have established policies and practices to enable development for a wide array of AI applications.  When downloaded or used in accordance with our terms of service, developers should work with their internal model team to ensure this model meets requirements for the relevant industry and use case and addresses unforeseen product misuse.   
 
 (For Release on NVIDIA Platforms Only)