Add Fabric-DROID v001 train-only export

126 reviewed episodes, 252 train segments, raw archive and curator manifest.

README.md

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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
+
+```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.
+

archives/fabric_droid_v001_raw.tar.zst

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+version https://git-lfs.github.com/spec/v1
+oid sha256:fae4cedbd1507f9f85a06cc7bcc77ce93f2c15c26a3ddb8dbff2e52b87dc14ce
+size 2488940428

checksums.sha256

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+64900432131f3ba0a8584c900a5fd1ef87d7dab4b44c650cb47acd4dbd97a84f  ./README.md
+fae4cedbd1507f9f85a06cc7bcc77ce93f2c15c26a3ddb8dbff2e52b87dc14ce  ./archives/fabric_droid_v001_raw.tar.zst
+f3a9380b28d2601964bf9c0a0e1595c815610aa7e6ada0b1c22aa2035b38db7d  ./metadata/annotation_snapshot.json
+14ddb99509b2fbdf2de7aaaef3f518f201d9b516b32ad3a6e22b3d6f5200e5d4  ./metadata/camera_session_report.json
+75fec2430ee2539503c02fde201a3551a775edd8110036ec965249038571a747  ./metadata/export_config.yaml
+d0d6df56bcbaf80fb7b57e812f0f8989f4e45d0c9dc6b6374023065e2b567bed  ./metadata/instruction_templates.json
+3b958480258c559a4cf5a940e091f58d6ec3b4fd24b10030a501e85efb793273  ./metadata/leakage_audit.json
+d6e031d61f6c3bc541ecb0c37fffbc86260f111891f38a2b44ada616656f5243  ./metadata/manifest.parquet
+37517e5f3dc66819f61f5a7bb8ace1921282415f10551d2defa5c3eb0985b570  ./metadata/recovery_episodes.json
+10e0268b6ac8ec6e656171c81c07d9aa2e264c42e0ced2d7d275af4c01df120a  ./metadata/rejected_episodes.json
+e393d787c9ee01e928a3f5394e3a559012d3576dfade0468027f7cc161cc4f5a  ./metadata/segment_stats.json
+8d7009c2622d5e51dddb9f6e0ee312e752a2fdd7e10b563175121deeaade03b0  ./metadata/sensor_qc_report.json
+2e90b1d6246205ba3ab24509782b2da3edd7e890340dfb6f05b8b52d56850a49  ./metadata/split_manifest.json

metadata/camera_session_report.json

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+[
+  {
+    "camera_session_id": "session_20260726__102422075665",
+    "consistency_class": "major_shift",
+    "episode_count": 77,
+    "estimated_rotation": -13.798511842105261,
+    "estimated_translation": 25.94388026315789,
+    "homography_confidence": 0.4547657894736842,
+    "image_similarity": 0.6317460526315789,
+    "reference_episode_id": "episode_20260727_163100",
+    "reference_frame_path": "/home/suhang/projects/droid/curation/thumbnails/episode_20260727_163100.jpg"
+  },
+  {
+    "camera_session_id": "session_20260726__338622072599",
+    "consistency_class": "minor_shift",
+    "episode_count": 55,
+    "estimated_rotation": -33.534956603773594,
+    "estimated_translation": 0.5228518518518519,
+    "homography_confidence": 0.7707648148148151,
+    "image_similarity": 0.7292907407407406,
+    "reference_episode_id": "episode_20260728_203423",
+    "reference_frame_path": "/home/suhang/projects/droid/curation/thumbnails/episode_20260728_203423.jpg"
+  }
+]

metadata/export_config.yaml

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+curation_root: /home/suhang/projects/droid/curation
+data_root: /home/suhang/datasets2/frabric_pi
+export_version: fabric_droid_v001
+include_heldout: false
+normalization_fitted: false
+segment_overlap:
+  post_seconds: 0.2
+  pre_seconds: 0.2
+  release_post_seconds: 0.33
+splits:
+  heldout: []
+  train:
+  - swatch_001
+  validation: []

metadata/instruction_templates.json

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+{
+  "full_leave": {
+    "id": "full_leave_v1",
+    "prompt": "Reach for the fabric, leave it on the rack, and return to the ready position."
+  },
+  "full_remove": {
+    "id": "full_remove_v1",
+    "prompt": "Reach for the fabric, remove it from the rack, and drop it into the basket."
+  },
+  "grasp_probe": {
+    "id": "grasp_probe_v2",
+    "prompt": "Reach for the fabric, grasp it, and hold it for inspection."
+  },
+  "leave_on_rack": {
+    "id": "leave_on_rack_v1",
+    "prompt": "Leave the fabric on the rack, release it, and return to the ready position."
+  },
+  "recovery": {
+    "id": "recovery_v1",
+    "prompt": "Recover the robot to a safe ready position."
+  },
+  "remove_to_basket": {
+    "id": "remove_to_basket_v2",
+    "prompt": "Remove the fabric from the rack and drop it into the basket."
+  }
+}

metadata/leakage_audit.json

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+{
+  "heldout_excluded_from_training_export": true,
+  "heldout_used_for_normalization": false,
+  "leaked_swatches": {},
+  "pass": true,
+  "swatch_assignments": {
+    "swatch_001": [
+      "train"
+    ]
+  },
+  "unit": "swatch_uid"
+}

metadata/manifest.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:d6e031d61f6c3bc541ecb0c37fffbc86260f111891f38a2b44ada616656f5243
+size 23094

metadata/recovery_episodes.json

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+[]

metadata/rejected_episodes.json

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+[
+  {
+    "annotation_version": 5,
+    "episode_id": "episode_20260727_200917"
+  }
+]

metadata/segment_stats.json

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+{
+  "by_action_branch": {
+    "leave": 124,
+    "remove": 128
+  },
+  "by_segment_type": {
+    "grasp_probe": 126,
+    "leave_on_rack": 62,
+    "remove_to_basket": 64
+  },
+  "by_split": {
+    "train": 252
+  },
+  "duration_seconds": 4311.341497,
+  "excluded_heldout_segments": 0,
+  "segment_count": 252
+}

metadata/split_manifest.json

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+{
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