Update README.md

README.md

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----
-license: mit
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+---
+license: mit
+---
+
+# Dataset Card
+
+This is the fine-tuning dataset used in the paper *RDT-1B: a Diffusion Foundation Model for Bimanual Manipulation*.
+
+## Source
+
+- Project Page: https://rdt-robotics.github.io/rdt-robotics/
+- Paper:
+- Code:
+- Model: https://huggingface.co/robotics-diffusion-transformer/rdt-1b
+
+## Getting Started
+
+Download all archive files and use the following command to extract:
+```bash
+cat rdt_data.tar.gz.* | tar -xzvf -
+```
+
+In the resulting `rdt_data` folder, each sub-folder is a task. In each task sub-folder, we have HDF5 files and the instruction JSON file, as illustrated below:
+```
+rdt_data/---task_1/---episode_1.hdf5
+          |         |
+          |-task_2/ |-episode_2.hdf5
+          |         |
+          |-task_3/ |-...
+          |         |
+          |-...     |-expanded_instruction_gpt-4-turbo.json
+```
+Each HDF5 file corresponds to a trajectory/episode of the task, which has the following keys:
+- `observations`:
+  - `qpos`: joint positions of the two robot arms, (TRAJ_LEN, 14); the seventh and fourteenth joints are gripper joint angles
+  - `images`:
+    - `cam_high`: RGB images from the exterior camera at each time step, (TRAJ_LEN, 480, 640, 3)
+    - `cam_left_wrist`: RGB images from the left-wrist camera at each time step, (TRAJ_LEN, 480, 640, 3)
+    - `cam_right_wrist`: RGB images from the right-wrist camera at each time step, (TRAJ_LEN, 480, 640, 3)
+- `action`: desired joint positions of the two robot arms at the next time step,
+  (TRAJ_LEN, 14); Note that this is slightly different from the actual joint positions at the next time step
+
+Note: The number of HDF5 episode files is not necessarily consecutive. `TRAJ_LEN` may vary from episode to episode.
+  
+Each JSON file corresponds to the annotated language instructions of the task, which has the following keys:
+- `instruction`: original human-annotated instructions; its value is a string
+- `expanded_instruction`: instructions generated by GPT-4-Turbo by expanding the original one; its value is a list of strings
+- `simplified_instruction`: instructions generated by GPT-4-Turbo by simplifying the original one; its value is a list of strings