Add paper link and citation, and update code snippets

README.md

@@ -8,9 +8,11 @@ configs:
 - config_name: default
   data_files: FlattenFold/base/data/chunk-000/episode_000000.parquet
 ---
-# KAI0
-<div align="center">
-  <a href="">
+
+# χ₀ (KAI0)
+
+<div align="center\">
+  <a href="https://github.com/OpenDriveLab/KAI0">
     <img src="https://img.shields.io/badge/GitHub-grey?logo=GitHub" alt="GitHub Badge">
   </a>
   <a href="https://huggingface.co/OpenDriveLab-org/Kai0">
@@ -19,8 +21,13 @@ configs:
   <a href="https://mmlab.hk/research/kai0">
     <img src="https://img.shields.io/badge/Research_Blog-grey?style=flat" alt="Research Blog Badge">
   </a>
+  <a href="https://huggingface.co/papers/2602.09021">
+    <img src="https://img.shields.io/badge/Paper-blue?logo=arxiv" alt="Paper Badge">
+  </a>
 </div>
 
+χ₀ (**kai0**) is a resource-efficient framework for achieving production-level robustness in robotic manipulation by taming distributional inconsistencies. It enables long-horizon garment manipulation tasks such as flattening, folding, and hanging using dual-arm robots.
+
 # TODO
 - [ ] The advantage label will be coming soon.
 
@@ -34,7 +41,7 @@ configs:
 - [License and Citation](#license-and-citation)
 
 ## [About the Dataset](#contents)
-- **~134 hours** real world scenarios 
+- **~181 hours** real world scenarios 
 - **Main Tasks**
     - ***FlattenFold***  
       - Single task
@@ -63,6 +70,7 @@ configs:
 ## [Load the dataset](#contents)
 - This dataset was created using [LeRobot](https://github.com/huggingface/lerobot)
 - The dataset's version is LeRobotDataset v2.1
+
 ### For LeRobot version < 0.4.0
 Choose the appropriate import based on your version:
 
@@ -79,7 +87,7 @@ from lerobot.common.datasets.lerobot_dataset import LeRobotDataset
 from lerobot.datasets.lerobot_dataset import LeRobotDataset
 
 # Load the dataset
-dataset = LeRobotDataset(repo_id='where/the/dataset/you/stored')
+dataset = LeRobotDataset(repo_id='OpenDriveLab-org/kai0')
 ```
 
 ### For LeRobot version >= 0.4.0
@@ -87,7 +95,7 @@ dataset = LeRobotDataset(repo_id='where/the/dataset/you/stored')
 You need to migrate the dataset from v2.1 to v3.0 first. See the official documentation: [Migrate the dataset from v2.1 to v3.0](https://huggingface.co/docs/lerobot/lerobot-dataset-v3)
 
 ```bash
-python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=<HF_USER/DATASET_ID>
+python -m lerobot.datasets.v30.convert_dataset_v21_to_v30 --repo-id=OpenDriveLab-org/kai0
 ```
 
 ## [Download the Dataset](#contents)
@@ -141,42 +149,16 @@ hf download OpenDriveLab-org/kai0 \
 
 ### [Folder hierarchy](#contents)
 Under each task directory, data is partitioned into two subsets: base and dagger.
-- base 
-  contains 
-  original demonstration trajectories of robotic arm manipulation for garment arrangement tasks.
-- dagger  
-  contains on-policy recovery trajectories collected via iterative DAgger, designed to populate failure recovery modes absent in static demonstrations.
+- base contains original demonstration trajectories.
+- dagger contains on-policy recovery trajectories collected via iterative DAgger.
+
 ```text
 Kai0-data/
 ├── FlattenFold/
 │   ├── base/
 │   │   ├── data/
-│   │   │   ├── chunk-000/
-│   │   │   │   ├── episode_000000.parquet
-│   │   │   │   ├── episode_000001.parquet
-│   │   │   │   └── ...
-│   │   │   └── ...
 │   │   ├── videos/
-│   │   │   ├── chunk-000/
-│   │   │   │   ├── observation.images.hand_left/
-│   │   │   │   │   ├── episode_000000.mp4
-│   │   │   │   │   ├── episode_000001.mp4
-│   │   │   │   │   └── ...
-│   │   │   │   ├── observation.images.hand_right/
-│   │   │   │   │   ├── episode_000000.mp4
-│   │   │   │   │   ├── episode_000001.mp4
-│   │   │   │   │   └── ...
-│   │   │   │   ├── observation.images.top_head/
-│   │   │   │   │   ├── episode_000000.mp4
-│   │   │   │   │   ├── episode_000001.mp4
-│   │   │   │   │   └── ...
-│   │   │   │   └── ...
-│   │   │   └── ...
 │   │   └── meta/
-│   │       ├── info.json
-│   │       ├── episodes.jsonl
-│   │       ├── tasks.jsonl
-│   │       └── episodes_stats.jsonl
 │   └── dagger/
 ├── HangCloth/
 │   ├── base/
@@ -190,105 +172,7 @@ Kai0-data/
 <a id='Details'></a>
 ### [Details](#contents)
 #### info.json
-the basic struct of the [info.json](#meta/info.json)
-```json
-{
-    "codebase_version": "v2.1",
-    "robot_type": "agilex",
-    "total_episodes": ...,  # the total episodes in the dataset
-    "total_frames": ...,    # The total number of video frames in any single camera perspective
-    "total_tasks": ...,     # Total number of tasks
-    "total_videos": ...,    # The total number of videos from all camera perspectives in the dataset
-    "total_chunks": ...,    # The number of chunks in the dataset
-    "chunks_size": ...,     # The max number of episodes in a chunk
-    "fps": ...,             # Video frame rate per second
-    "splits": {             # how to split the dataset
-        "train": ...       
-    },
-    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
-    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
-    "features": {
-        "observation.images.top_head": {   # the camera perspective
-            "dtype": "video",
-            "shape": [
-                480,
-                640,
-                3
-            ],
-            "names": [
-                "height",
-                "width",
-                "channel"
-            ],
-            "info": {
-                "video.height": 480,
-                "video.width": 640,
-                "video.codec": "av1",
-                "video.pix_fmt": "yuv420p",
-                "video.is_depth_map": false,
-                "video.fps": 30,
-                "video.channels": 3,
-                "has_audio": false
-            }
-        },
-        "observation.images.hand_left": {   # the camera perspective
-            ...
-        },
-        "observation.images.hand_right": {   # the camera perspective
-            ...
-        },
-        "observation.state": {
-            "dtype": "float32",
-            "shape": [
-                14
-            ],
-            "names": null
-        },
-        "action": {
-            "dtype": "float32",
-            "shape": [
-                14
-            ],
-            "names": null
-        },
-        "timestamp": {
-            "dtype": "float32",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "frame_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "episode_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        },
-        "task_index": {
-            "dtype": "int64",
-            "shape": [
-                1
-            ],
-            "names": null
-        }
-    }
-}
-```
+The basic structure of `info.json` includes metadata about robot types, frames, tasks, and data features like camera perspectives (`top_head`, `hand_left`, `hand_right`).
 
 #### [Parquet file format](#contents)
 | Field Name | shape | Meaning |
@@ -301,16 +185,14 @@ the basic struct of the [info.json](#meta/info.json)
 | index | [N, 1] | Global unique index across all frames in the dataset |
 | task_index | [N, 1] | Index identifying the task type being performed |
 
-### [tasks.jsonl](#FlattenFold/meta/tasks.jsonl)
-Contains task language prompts (natural language instructions) that specify the manipulation task to be performed. Each entry maps a task_index to its corresponding task description, which can be used for language-conditioned policy training.
+## License and Citation
+The data and checkpoints are licensed under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/).
 
-# License and Citation
-All the data and code within this repo are under [](). Please consider citing our project if it helps your research.
-
-```BibTeX
-@misc{,
-  title={},
-  author={},
-  howpublished={\url{}},
-  year={}
-}
+```bibtex
+@article{sima2026kai0,
+  title={$\chi_{0}$: Resource-Aware Robust Manipulation via Taming Distributional Inconsistencies},
+  author={Yu, Checheng and Sima, Chonghao and Jiang, Gangcheng and Zhang, Hai and Mai, Haoguang and Li, Hongyang and Wang, Huijie and Chen, Jin and Wu, Kaiyang and Chen, Li and Zhao, Lirui and Shi, Modi and Luo, Ping and Bu, Qingwen and Peng, Shijia and Li, Tianyu and Yuan, Yibo},
+  journal={arXiv preprint arXiv:2602.09021},
+  year={2026}
+}
+```