Improve dataset card and add metadata

README.md

@@ -1,3 +1,48 @@
----
-license: cc-by-4.0
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+---
+license: cc-by-nc-nd-4.0
+task_categories:
+- robotics
+---
+
+# Bench2Drive-Speed
+
+[**Project Page**](https://thinklab-sjtu.github.io/Bench2Drive-Speed/) | [**Paper**](https://huggingface.co/papers/2603.25672) | [**GitHub**](https://github.com/Thinklab-SJTU/Bench2Drive-Speed)
+
+**Bench2Drive-Speed** is a closed-loop benchmark for desired-speed conditioned autonomous driving, enabling explicit control over vehicle behavior through **target speed** and **overtake/follow commands**.
+
+The **CustomizedSpeedDataset** contains **2,100 CARLA driving scenarios** with expert demonstrations and annotated **overtake/follow commands**. The released dataset includes expert target-speed signals only.
+
+## Virtual Target Speed Annotation
+
+You can use a script to generate **virtual target speed** from Bench2Drive-style driving dataset.
+
+1. Find `tools/append_virtual_target_speed.py` in the GitHub repository.
+
+2. Set the path to your dataset in the main function:
+
+```python
+# tools/append_virtual_target_speed.py
+if __name__ == "__main__":
+    main(
+        ["/path/to/dataset"] # << modify here
+    )
+```
+
+3. Run the script:
+
+```bash
+python tools/append_virtual_target_speed.py
+```
+
+## Citation
+
+```bibtex
+@article{Bench2DriveSpeed,
+    title={Can Users Specify Driving Speed? Bench2Drive-Speed: Benchmark and Baselines for Desired-Speed Conditioned Autonomous Driving}, 
+    author={Yuqian Shao and Xiaosong Jia and Langechuan Liu and Junchi Yan},
+    year={2026},
+    eprint={2603.25672},
+    archivePrefix={arXiv},
+    primaryClass={cs.RO},
+}
+```