| # 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 |
|
|
| ```bash |
| 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. |
|
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|
