Update README

README.md

@@ -14,6 +14,8 @@
   <a href="https://www.linkedin.com/company/sharpa-robotics"><img src="https://img.shields.io/badge/LinkedIn-Sharpa-0a66c2?style=flat-square&logo=linkedin&logoColor=white" alt="LinkedIn"></a>
   <a href="https://www.youtube.com/@sharpa-robotics"><img src="https://img.shields.io/badge/YouTube-Sharpa-ff0000?style=flat-square&logo=youtube&logoColor=white" alt="YouTube"></a>
   <a href="https://x.com/SharpaRobotics"><img src="https://img.shields.io/badge/X-%40SharpaRobotics-000000?style=flat-square&logo=x&logoColor=white" alt="X"></a>
+  <a href="https://rocochallenge.github.io/RoCo-IROS2026/"><img src="https://img.shields.io/badge/Competition-RoCo%20IROS%202026-0077b6?style=flat-square" alt="Competition Website"></a>
+  <a href="https://forms.gle/d2NKNAE7dqSfYZB87"><img src="https://img.shields.io/badge/Register-Google%20Form-34a853?style=flat-square" alt="Registration"></a>
   <a href="https://huggingface.co/datasets/SharpaIT/RoCo_TaskBoardAssembly"><img src="https://img.shields.io/badge/Dataset-Hugging%20Face-f3b000?style=flat-square" alt="Dataset"></a>
 </p>
 
@@ -23,11 +25,13 @@
 
 Task-board assembly requires precise part localization, fine contact timing, bimanual coordination, and robust perception under hand-object occlusion. The demonstrations include synchronized multi-view video, tactile observations, proprioceptive state, torque signals, and action targets.
 
+This dataset supports the [RoCo IROS 2026 Challenge](https://rocochallenge.github.io/RoCo-IROS2026/). Teams can register through the official [registration form](https://forms.gle/d2NKNAE7dqSfYZB87).
+
 <table>
   <tr>
     <td><b>Task</b><br>Task-board part assembly</td>
     <td><b>Format</b><br>LeRobot v3.0 / v2.1</td>
-    <td><b>Scale</b><br>10 seasons / 151 episodes</td>
+    <td><b>Scale</b><br>30 seasons / 562 episodes</td>
     <td><b>Frequency</b><br>30 FPS</td>
   </tr>
   <tr>
@@ -44,7 +48,7 @@ Task-board assembly requires precise part localization, fine contact timing, bim
 | --- | --- |
 | Contact-rich assembly learning | Real-world demonstrations for assembling task-board parts |
 | Multi-view visuomotor policies | Synchronized head-camera and wrist-camera observations |
-| Visual-tactile learning | Tactile deformation video, raw tactile video, and 60D tactile signals |
+| Visual-tactile learning | High-resolution tactile videos, synchronized raw tactile camera views, and 10-fingertip 6-axis tactile signals |
 | Joint-space control | 65D synchronized state and action for two arms, two dexterous hands, and torso/motor-related joints |
 | LeRobot ecosystem | `lerobot3.0` and `lerobotv2.1` exports for every released season |
 
@@ -101,18 +105,18 @@ The demonstrations include synchronized head, wrist, and tactile video streams.
 
 | Item | Value |
 | --- | ---: |
-| Total collection seasons | 10 |
-| `lerobot3.0` seasons | 10 |
-| `lerobot3.0` episodes | 151 |
-| `lerobot3.0` frames | 733,809 |
-| `lerobotv2.1` seasons | 10 |
-| `lerobotv2.1` episodes | 151 |
-| `lerobotv2.1` frames | 733,809 |
+| Total collection seasons | 30 |
+| `lerobot3.0` seasons | 30 |
+| `lerobot3.0` episodes | 562 |
+| `lerobot3.0` frames | 2,461,024 |
+| `lerobotv2.1` seasons | 30 |
+| `lerobotv2.1` episodes | 562 |
+| `lerobotv2.1` frames | 2,461,024 |
 | FPS | 30 |
 | Video streams | 6 |
 | State/action dimension | 65 |
 | Tactile signal dimension | 60 |
-| Approximate data size | 104.8 GB |
+| Approximate data size | 324.3 GB |
 
 For new users, we recommend starting from `lerobot3.0`. The `lerobotv2.1` export is included for compatibility with pipelines that still depend on the older LeRobot layout.
 
@@ -262,20 +266,54 @@ The complete visual observation set contains six camera streams:
 
 Video files are MP4 without audio. Codec may differ across exports and seasons. `lerobot3.0` is primarily AV1, while `lerobotv2.1` is primarily H.264.
 
+## Tactile Modality
+
+The dataset includes tactile observations as both compact numeric signals and high-resolution video streams. These modalities are synchronized with the robot state, action, and visual camera streams at 30 FPS, making them suitable for contact-rich policy learning and visual-tactile representation learning.
+
+| Tactile feature | Type | Shape | Description |
+| --- | --- | --- | --- |
+| `observation.tactile` | float32 | 60 | Per-frame tactile force/torque signal: 10 fingertips x 6 axes |
+| `observation.images.tactile_deform` | video | 480 x 1200 x 3 | Deformation-oriented tactile video stream that visualizes contact-induced surface changes |
+| `observation.images.tactile_raw` | video | 480 x 1600 x 3 | Raw tactile camera stream preserving the full tactile sensor image layout |
+
+The `observation.tactile` vector provides a compact force/torque representation for each frame. It contains 10 fingertip groups: left and right `thumb`, `index`, `middle`, `ring`, and `little`. Each fingertip contributes six values, ordered as `fx`, `fy`, `fz`, `tx`, `ty`, and `tz`, for a total of 60 dimensions.
+
+The two tactile video streams provide complementary image-based tactile observations: `tactile_deform` emphasizes deformation patterns caused by contact, while `tactile_raw` preserves the raw tactile image for users who want to build their own visual-tactile preprocessing or representation learning pipeline. For downstream experiments, users can start with `observation.tactile` as a lightweight contact signal, then add one or both tactile video streams when the model architecture can handle the additional spatial resolution and bandwidth.
+
 ## Season List
 
 | Season | `lerobot3.0` | `lerobotv2.1` |
 | --- | ---: | ---: |
-| `season_POC22061_2026_06_11_14_29_08_train` | 3.64 GB | 3.65 GB |
-| `season_POC22061_2026_06_11_19_10_57_train` | 3.70 GB | 3.71 GB |
-| `season_POC22061_2026_06_11_20_21_30_train` | 5.11 GB | 5.13 GB |
-| `season_POC22061_2026_06_14_10_25_39_train` | 4.10 GB | 4.12 GB |
-| `season_POC22061_2026_06_14_15_44_09_train` | 7.95 GB | 7.97 GB |
-| `season_POC22061_2026_06_15_10_15_11_train` | 4.37 GB | 4.38 GB |
-| `season_POC22061_2026_06_15_11_15_27_train` | 3.13 GB | 3.14 GB |
-| `season_POC22061_2026_06_15_15_56_02_train` | 10.70 GB | 10.73 GB |
-| `season_POC22061_2026_06_15_19_24_12_train` | 6.94 GB | 6.97 GB |
-| `season_POC22061_2026_06_16_10_36_10_train` | 2.65 GB | 2.66 GB |
+| `season_POC22061_2026_06_11_14_29_08_train` | 3.39 GB | 3.40 GB |
+| `season_POC22061_2026_06_11_19_10_57_train` | 3.45 GB | 3.46 GB |
+| `season_POC22061_2026_06_11_20_21_30_train` | 4.76 GB | 4.78 GB |
+| `season_POC22061_2026_06_14_10_25_39_train` | 3.82 GB | 3.83 GB |
+| `season_POC22061_2026_06_14_15_44_09_train` | 7.40 GB | 7.43 GB |
+| `season_POC22061_2026_06_15_10_15_11_train` | 4.07 GB | 4.08 GB |
+| `season_POC22061_2026_06_15_11_15_27_train` | 2.91 GB | 2.92 GB |
+| `season_POC22061_2026_06_15_15_56_02_train` | 9.96 GB | 10.00 GB |
+| `season_POC22061_2026_06_15_19_24_12_train` | 6.47 GB | 6.49 GB |
+| `season_POC22061_2026_06_16_10_36_10_train` | 2.47 GB | 2.48 GB |
+| `season_POC22061_2026_06_16_13_39_56_train` | 7.77 GB | 7.79 GB |
+| `season_POC22061_2026_06_16_15_59_28_train` | 6.01 GB | 6.03 GB |
+| `season_POC22061_2026_06_16_19_09_01_train` | 5.15 GB | 5.17 GB |
+| `season_POC22061_2026_06_17_10_36_58_train` | 6.48 GB | 6.50 GB |
+| `season_POC22061_2026_06_17_13_36_51_train` | 6.02 GB | 6.04 GB |
+| `season_POC22061_2026_06_17_15_33_05_train` | 7.65 GB | 7.68 GB |
+| `season_POC22061_2026_06_17_19_15_29_train` | 5.62 GB | 5.64 GB |
+| `season_POC22061_2026_06_18_10_08_09_train` | 6.11 GB | 6.13 GB |
+| `season_POC22061_2026_06_18_13_41_46_train` | 5.31 GB | 5.33 GB |
+| `season_POC22061_2026_06_18_19_11_08_train` | 6.76 GB | 6.78 GB |
+| `season_POC22061_2026_06_18_20_41_26_train` | 3.66 GB | 3.68 GB |
+| `season_POC22061_2026_06_19_10_02_47_train` | 3.16 GB | 3.17 GB |
+| `season_POC22061_2026_06_19_10_45_34_train` | 3.53 GB | 3.54 GB |
+| `season_POC22061_2026_06_19_13_51_05_train` | 5.85 GB | 5.87 GB |
+| `season_POC22061_2026_06_19_16_00_30_train` | 5.91 GB | 5.93 GB |
+| `season_POC22061_2026_06_19_19_14_55_train` | 5.61 GB | 5.63 GB |
+| `season_POC22061_2026_06_20_10_09_11_train` | 6.21 GB | 6.23 GB |
+| `season_POC22061_2026_06_20_13_43_19_train` | 5.80 GB | 5.82 GB |
+| `season_POC22061_2026_06_20_15_57_28_train` | 5.60 GB | 5.62 GB |
+| `season_POC22061_2026_06_20_19_18_15_train` | 4.94 GB | 4.96 GB |
 
 ## Usage Recommendations