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Fabric-DROID v001

This is the final train-only export of the Fabric-DROID Franka teleoperation episodes reviewed with the local Dataset Curator.

Contents

  • archives/fabric_droid_v001_raw.tar.zst: 126 selected raw episode directories, including robot trajectory, camera recordings, timestamps, and tactile sidecars.
  • metadata/manifest.parquet: the 252 active training segments and their timestamps, action branch, camera mapping, and language instruction.
  • metadata/: immutable export metadata, split information, QC reports, and annotation snapshots.

Dataset counts

  • Episodes: 126
  • Segments: 252
  • Split: train only (no validation or test split)
  • Grasp-probe segments: 126
  • Leave-on-rack segments: 62
  • Remove-to-basket segments: 64

The episode episode_20260727_200917 was explicitly dropped and is not in the archive or manifest. episode_20260728_210322 is included.

Instructions

The manifest contains the canonical instructions:

  1. Reach for the fabric, grasp it, and hold it for inspection.
  2. Leave the fabric on the rack, release it, and return to the ready position.
  3. Remove the fabric from the rack and drop it into the basket.

Extracting raw episodes 

zstd -d archives/fabric_droid_v001_raw.tar.zst -c | tar -xf -

The archive expands to an episodes/ directory. Raw recordings are preserved as captured; the leading idle trim and action labels are represented by the manifest timestamps and metadata rather than by rewriting the source files.