Update README.md

README.md

@@ -1,11 +1,82 @@
 # Dataset Card for GEMBench dataset
 
-**GE**neralizable vision-language robotic **M**anipulation **Bench**mark Dataset
+💎 **GE**neralizable vision-language robotic **M**anipulation **Bench**mark Dataset
 
 A benchmark to systematically evaluate generalization capabilities of vision-and-language robotic manipulation policies. Built upon the RLBench simulator.
 
 ![GEMBench](dataset_overview.png)
 
+💻 **GEMBench Project Webpage:** https://www.di.ens.fr/willow/research/gembench/
+
+📈 **Leaderboard:** https://paperswithcode.com/sota/robot-manipulation-generalization-on-gembench
+
+## Dataset Structure
+Dataset structure is as follows:
+```
+  - gembench
+      - train_dataset
+          - microsteps: 567M, initial configurations for each episode
+          - keysteps_bbox: 160G, extracted keysteps data
+          - keysteps_bbox_pcd: (used to train 3D-LOTUS)
+              - voxel1cm: 10G, processed point clouds
+              - instr_embeds_clip.npy: instructions encoded by CLIP text encoder
+          - motion_keysteps_bbox_pcd: (used to train 3D-LOTUS++ motion planner)
+              - voxel1cm: 2.8G, processed point clouds
+              - action_embeds_clip.npy: action names encoded by CLIP text encoder
+      - val_dataset
+          - microsteps: 110M, initial configurations for each episode
+          - keysteps_bbox_pcd:
+              - voxel1cm: 941M, processed point clouds
+      - test_dataset
+          - microsteps: 2.2G, initial configurations for each episode
+```
+
+## 🛠️ Benchmark Installation
+
+1. Create and activate your conda environment:
+```bash
+conda create -n gembench python==3.10
+
+conda activate gembench
+```
+2. Install RLBench
+Download CoppeliaSim (see instructions [here](https://github.com/stepjam/PyRep?tab=readme-ov-file#install))
+```bash
+# change the version if necessary
+wget https://www.coppeliarobotics.com/files/V4_1_0/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
+tar -xvf CoppeliaSim_Edu_V4_1_0_Ubuntu20_04.tar.xz
+```
+
+Add the following to your ~/.bashrc file:
+```bash
+export COPPELIASIM_ROOT=$(pwd)/CoppeliaSim_Edu_V4_1_0_Ubuntu20_04
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$COPPELIASIM_ROOT
+export QT_QPA_PLATFORM_PLUGIN_PATH=$COPPELIASIM_ROOT
+```
+
+Install Pyrep and RLBench
+```bash
+git clone https://github.com/cshizhe/PyRep.git
+cd PyRep
+pip install -r requirements.txt
+pip install .
+cd ..
+
+# Our modified version of RLBench to support new tasks in GemBench
+git clone https://github.com/rjgpinel/RLBench
+cd RLBench
+pip install -r requirements.txt
+pip install .
+cd ..
+```
+
+## Evaluation
+
+Please, check 3D-LOTUS++ official repository code for evaluation:
+
+https://github.com/vlc-robot/robot-3dlotus?tab=readme-ov-file#evaluation
+
+
 ## Citation
 
 If you use our GemBench benchmark or find our code helpful, please kindly cite our [work](https://arxiv.org/abs/2410.01345):
@@ -21,8 +92,6 @@ If you use our GemBench benchmark or find our code helpful, please kindly cite o
 }
 ```
 
-## Dataset Card Contact
-
-[Ricardo Garcia-Pinel](mailto:rjgpinel@gmail.com)
+## Contact
 
-💻 **GEMBench Project Webpage:** https://www.di.ens.fr/willow/research/gembench/
+[Ricardo Garcia-Pinel](mailto:rjgpinel@gmail.com)