[docs] update dataset card

README.md

@@ -14,7 +14,7 @@ task_categories:
 
 ## Description
 
-This is the raw dataset used in the paper
+This is the raw and postprocessed dataset used in the paper
 [Reactive Diffusion Policy: Slow-Fast Visual-Tactile Policy Learning for Contact-Rich Manipulation](https://reactive-diffusion-policy.github.io).
 
 - [Paper](https://arxiv.org/pdf/2503.02881)
@@ -26,19 +26,46 @@ This is the raw dataset used in the paper
 We offer two versions of the dataset:
 one is the [full dataset](https://huggingface.co/datasets/WendiChen/reactive_diffusion_policy_dataset/tree/main/dataset_full) used to train the models in our paper,
 and the other is a [mini dataset](https://huggingface.co/datasets/WendiChen/reactive_diffusion_policy_dataset/tree/main/dataset_mini) for easier examination.
-Both versions include subsets of peeling, wiping and lifting.
-Each subset is structured as follows:
+Both versions include raw and postprocessed subsets of peeling, wiping and lifting.
 
+Each raw subset is structured as follows:
 ```
 subset_name
 ├── seq_01.pkl
 ├── seq_02.pkl
 ├── ...
 ```
-Note that we split the full lifting subset into 2 parts due to file size restrictions.
+> Note that we split the full raw lifting subset into 2 parts due to file size restrictions.
+
+Each postprocessed subset is stored in [Zarr](https://zarr.dev) format, which is structured as follows:
+```
+ ├── action (25710, 4) float32
+ ├── external_img (25710, 240, 320, 3) uint8
+ ├── left_gripper1_img (25710, 240, 320, 3) uint8
+ ├── left_gripper1_initial_marker (25710, 63, 2) float32
+ ├── left_gripper1_marker_offset (25710, 63, 2) float32
+ ├── left_gripper1_marker_offset_emb (25710, 15) float32
+ ├── left_gripper2_img (25710, 240, 320, 3) uint8
+ ├── left_gripper2_initial_marker (25710, 25, 2) float32
+ ├── left_gripper2_marker_offset (25710, 25, 2) float32
+ ├── left_gripper2_marker_offset_emb (25710, 15) float32
+ ├── left_robot_gripper_force (25710, 1) float32
+ ├── left_robot_gripper_width (25710, 1) float32
+ ├── left_robot_tcp_pose (25710, 9) float32
+ ├── left_robot_tcp_vel (25710, 6) float32
+ ├── left_robot_tcp_wrench (25710, 6) float32
+ ├── left_wrist_img (25710, 240, 320, 3) uint8
+ ├── right_robot_gripper_force (25710, 1) float32
+ ├── right_robot_gripper_width (25710, 1) float32
+ ├── right_robot_tcp_pose (25710, 9) float32
+ ├── right_robot_tcp_vel (25710, 6) float32
+ ├── right_robot_tcp_wrench (25710, 6) float32
+ ├── target (25710, 4) float32
+ └── timestamp (25710,) float32
+```
 
 ## Usage
 
 Follow the [README in our GitHub repo](https://github.com/xiaoxiaoxh/reactive_diffusion_policy)
-to [postprocess the data](https://github.com/xiaoxiaoxh/reactive_diffusion_policy#data-postprocessing)
+to [postprocess the raw data](https://github.com/xiaoxiaoxh/reactive_diffusion_policy#data-postprocessing)
 and [train the model](https://github.com/xiaoxiaoxh/reactive_diffusion_policy#-training).