Update README.md

README.md

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 This repository contains the official release of datasets for the [CoRL 2023](https://www.corl2023.org/) paper "MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrations".
 
+The datasets contain over 48,000 task demonstrations across 12 tasks, grouped into the following categories:
+- **source**: 120 human demonstrations across 12 tasks used to automatically generate the other datasets
+- **core**: 26,000 task demonstrations across 12 tasks (26 task variants)
+- **object**: 2000 task demonstrations on the Mug Cleanup task with different mugs
+- **robot**: 16,000 task demonstrations across 4 different robot arms on 2 tasks (4 task variants)
+- **large_interpolation**: 6000 task demonstrations across 6 tasks that pose significant challenges for modern imitation learning methods
+
 For more information please see the [website](https://mimicgen.github.io), the [paper](https://arxiv.org/abs/2310.17596), and the [code](https://github.com/NVlabs/mimicgen_environments).
 
 ## Dataset Structure