Update README.md

README.md

@@ -42,7 +42,25 @@ task_categories:
 - robotics
 ---
 
-A dataset of 101 demonstrations for a 'planar push' task with a UR5e robot. The robot has a cylindrical end-effector and has to push an object to the target location. 
+A [`LeRobot`](https://github.com/huggingface/lerobot) -formatted dataset of 101 demonstrations for a 'planar push' task with a UR5e robot. 
+The robot has a cylindrical end-effector and has to push an object to the target location. Once done, the robot needs to move to the corner of the workspace.
 
-The robot's motion is contrained to remain top-down and on a height of z=1.
+#TODO: add video 
+
+
+The target location is fixed and marked with an orange square. Both the initial joint configuration of the robot and the pose of th
+The dataset was collected using a [Gello](https://wuphilipp.github.io/gello_site/) arm to teleoperate the robot.
+
+
+The robot's motion is contrained to remain top-down and on a height of z=1. The agent controls the 6 joints of the robot arm by providing absolute joint coordinates.
+
+The observations are
+ - 640x480 RGB image from the wrist camera (realsense)
+ - 640x480 RGB image from a third-person camera (realsense)
+ - the joint configuration
+
+The robot is operated at 10Hz and each episode is succesful. There is no max duration.
+
+
+Collecting these 100 episodes took about 1 hour.