Update README.md

README.md

@@ -15,6 +15,7 @@ language:
 pretty_name: SoTac
 size_categories:
 - 10K<n<100K
+
 ---
 
 # SoTac — SO-101 Tactile Manipulation Corpus
@@ -48,16 +49,23 @@ is [Jingyi-Z/sotac_raw](https://huggingface.co/datasets/Jingyi-Z/sotac_raw).
 Current release (2026-08-26): 63 episodes / 25,401 frames (~14 min) across
 3 pick-and-place tasks, grouped by task:
 
-| task | episodes | episode # |
-|---|---|---|
-| Pick up the red foam ball and place it into the container | 21 | 0–20 |
-| Pick up the orange rubber ball and place it into the container | 22 | 21–42 |
-| Pick up the red cup and place it on top of the container | 20 | 43–62 |
-
-**Per-episode annotations** ship in `annotations/episode_annotations.json`: grasp type,
-attempt count, outcome (success / failure / partial), distractor objects (11 episodes
-include an orange ball or white box as distraction), grip-force quality labels
-(insufficient/excessive force), and free-form event notes.
+| task                                                         | episodes | episode # |
+| ------------------------------------------------------------ | -------- | --------- |
+| Pick up the red foam ball and place it into the container    | 21       | 0–20      |
+| Pick up the orange rubber ball and place it into the container | 22       | 21–42     |
+| Pick up the red cup and place it on top of the container     | 20       | 43–62     |
+
+**Per-episode annotations** ship in `annotations/`:
+
+- `episode_annotations.json`: episode-level curation labels — grasp type, attempt
+  count, outcome (success / failure / partial), distractor objects (11 episodes
+  include an orange ball or white box as distraction), grip-force quality labels
+  (insufficient/excessive force), and free-form event notes.
+- `episode_XXXXXX.json` (all 63 episodes): time-aligned language annotations —
+  subtask segments (approach, grasp, transport, place_release) and tactile event
+  interjections (contact, grasp_stable, slip, rotation, place, release/drop) with
+  per-event confidence. Auto-generated from the 91 Hz tactile stream and
+  human-reviewed in the visualizer.
 
 **Stable provenance**: every episode carries a `source_raw_episode` field — both as a
 column in `meta/episodes` and in the annotations — pointing to its index in