# 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.