Update README.md

README.md

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-license: bsd-3-clause
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+---
+license: bsd-3-clause
+---
+
+
+<h1 align="center">
+Trajectory Generation with Physics-Informed Learning and Drift Mitigation
+</h1>
+
+<div align="center">
+Evelyn D'Elia, Paolo Maria Viceconte, Lorenzo Rapetti, Diego Ferigo, Giulio Romualdi, Giuseppe L'Erario, Raffaello Camoriano, and Daniele Pucci <br> <br>
+</div>
+
+<br>
+
+<div align="center">
+Submitted to IEEE Robotics and Automation Letters (RA-L)
+</div>
+
+<section>
+<h2>📂 Dataset</h2>
+
+<p>
+The dataset is organized in folders. The layout is explained below.
+</p>
+<ul>
+<li>
+The <code>mocap/D2</code> folder contains the raw motion capture data, acquired via a human using the Xsens motion tracking suit. Within <code>D2</code> there are 5 subfolders for each data subset: forward, backward, side, diagonal, and mixed walking. each subfolder contains a <code>log</code> file which can be retargeted onto the robot.
+</li>
+<li>
+The <code>retargeted_mocap</code> folder contains the text files of the retargeted mocap data, in both original (<code>D2</code>) and mirrored (<code>D2_mirrored</code>) form.
+</li>
+<li>
+The <code>IO_features</code> folder contains the text files of the extracted features (data and labels) to be used in training. There are 4 subfolders which correspond to the original and mirrored inputs and the original and mirrored outputs.
+</li>
+<li>
+The <code>onnx</code> folder contains the onnx files corresponding to trained models from each PI loss value as well as from the original ADHERENT framework.
+</li>
+<li>
+The <code>reproduce_plots</code> folder contains <code>.mat</code> files with all the data needed to reproduce the selected plots.
+</li>
+</ul>
+</section>