Update README.md

README.md

@@ -43,11 +43,11 @@ The **FrodoBots 2K Dataset** is a diverse collection of camera footage, GPS, IMU
 
 This dataset is collected from the [**Earth Rovers**](https://www.frodobots.ai/earth-rovers) game developed by [**FrodoBots Lab**](https://www.frodobots.ai).
 
-Please join our [**Discord**](??) for discussions with fellow researchers/makers!
+Please join our [**Discord**](https://discord.com/invite/AUegJCJwyb) for discussions with fellow researchers/makers!
 
 - If you're interested in testing out your AI models on your own Earth Rovers, you can buy your own unit(s) from our [**online shop**](https://shop.frodobots.com/) (US$299 per unit).
 
-- If you're interested in testing out your AI models on our existing fleet of [**Earth Rovers School**](https://www.frodobots.ai/earth-rovers-school) (in Singapore, Madrid, etc), feel free to DM [Michael Cho on Twitter/X](https://twitter.com/micoolcho) to gain access to our Remote Access SDK.
+- If you're interested in testing out your AI models on our existing fleet of Earth Rovers in various cities, feel free to DM [Michael Cho on Twitter/X](https://twitter.com/micoolcho) to gain access to our Remote Access SDK.
 
 - If you're interested in playing the game (ie. remotely driving an Earth Rover), you may join as a gamer at [**Earth Rovers School**](https://www.frodobots.ai/earth-rovers-school). 
 
@@ -57,35 +57,35 @@ Please join our [**Discord**](??) for discussions with fellow researchers/makers
 
 ## Dataset Summary
 
-There are 7 types of data that are associated with a typical FrodoBots drive, as follows:
+There are 7 types of data that are associated with a typical Earth Rovers drive, as follows:
 
-1. **Control data**: This includes information about the robot's control inputs captured at a frequency of 10Hz (Ideal). When there is no data, it can be assumed the bot has stopped or is not in motion.
+1. **Control data**: Gamer's control inputs captured at a frequency of 10Hz (Ideal) as well as the RPM (revolutions per minute) readings for each of the 4 wheels on the robot. 
 
-2. **GPS data**: This includes latitude, longitude, and timestamp information for each data point collected during the robot drives at a frequency of 1Hz.
+2. **GPS data**: Latitude, longitude, and timestamp info for each data point collected during the robot drives at a frequency of 1Hz.
 
-3. **IMU (Inertial Measurement Unit) data**: This provides 9-degree of freedom sensor data, including acceleration (captured at 100Hz), gyroscope (captured at 1Hz), and compass ride information (captured at 1Hz), along with timestamp data.
+3. **IMU (Inertial Measurement Unit) data**: 9-DOF sensor data, including acceleration (captured at 100Hz), gyroscope (captured at 1Hz), and magnetometer info (captured at 1Hz), along with timestamp data.
 
-4. **Rear camera video**: This offers video footage captured by the robot's rear-facing camera at an average of 20 frames per second (FPS) with a resolution of 540x360.
+4. **Rear camera video**: Video footage captured by the robot's rear-facing camera at an average of 20 frames per second (FPS) with a resolution of 540x360.
 
-5. **Front camera video**: This consists of video footage captured by the robot's front-facing camera at an average 20 FPS with a resolution of 1024x576.
+5. **Front camera video**: Video footage captured by the robot's front-facing camera at an average 20 FPS with a resolution of 1024x576.
 
-6. **Microphone**: This includes audio recordings captured by the robot's microphone, with a sample rate of 16000Hz, channel 1.
+6. **Microphone**: Audio recordings captured by the robot's microphone, with a sample rate of 16000Hz, channel 1.
 
-7. **Speaker**: This incorporates audio recordings of the robot's speaker output (ie. gamer's microphone), also with a sample rate of 16000Hz, channel 1.
+7. **Speaker**: Audio recordings of the robot's speaker output (ie. gamer's microphone), also with a sample rate of 16000Hz, channel 1.
 
-In total, there were more than 4,000 individual driving sessions recorded, with majority of these drives under 10 minutes long, although there were also drives lasting more than an hour.
+In total, there were more than ? individual driving sessions recorded, with majority of these drives under 10 minutes long, although there were also drives lasting more than an hour.
 
 | ![Histogram of Session Duration.png](https://cdn-uploads.huggingface.co/production/uploads/63be791624e75d1efdf6ce54/vXaVIWxqaBy2x6N9jJnrD.png) |
 |:--:|
 | *Histogram of Session Duration (minutes)* |
 
-These drives were done with FrodoBots in over 10 cities, registering close to 1,000 hours of footages, with Liuzhou being the city with longest cumulative hours of drives.
+These drives were done with Earth Rovers in over 10 cities, registering over 2,000 hours of footages (currently ~1,500 hours are available for download, with remaining ~500 hours available by end May, 2024 after some final data cleaning).
 
 | ![Cumulative sessions hours by city.png](https://cdn-uploads.huggingface.co/production/uploads/63be791624e75d1efdf6ce54/iAH1bhnc4olXhpbdJHDGv.png)|
 |:--:|
 | *Cumulative sessions hours by city* |
 
-Out of these 1,000 hours of recorded drive, roughly 312 hours have registered speed above 0 Km/Hr. Most of these other duration were either stationary or short pauses during a regular game drives.
+Earth Rovers are designed to have a typical max speed of 3km/hr. Duration with 0km/hr would mean either stationary or short pauses during a regular game drives.
 
 | ![Distribution of robot speed.png](https://cdn-uploads.huggingface.co/production/uploads/63be791624e75d1efdf6ce54/e_dh5xDedWbnhlkhJX6O9.png)|
 |:--:|
@@ -93,7 +93,7 @@ Out of these 1,000 hours of recorded drive, roughly 312 hours have registered sp
 
 ## About FrodoBots
 
-[**FrodoBots**](https://www.frodobots.com/) is an open-world video driving game where gamers remotely control sidewalk robots to complete missions in different cities (here's a video about the [robot](https://youtu.be/WZy1u7ds1wQ)).
+[**FrodoBots**](https://www.frodobots.ai/) is an open-world video driving game where gamers remotely control sidewalk robots to complete missions in different cities (here's a video about the [robot](https://youtu.be/WZy1u7ds1wQ)).
 
 The game objective is to complete the pre-defined navigation missions in single-player mode (see [video](https://www.youtube.com/@frodobots)) or gather digital items in the multiplayer arena mode (see [video](https://youtu.be/2E3lve-Xvak)).