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README.md

@@ -21,10 +21,22 @@ finetuning SmolVLA-class policies.
 
 - **Robot:** `so_follower` (SO-101), 6-DoF (`shoulder_pan`, `shoulder_lift`,
   `elbow_flex`, `wrist_flex`, `wrist_roll`, `gripper`)
-- **Episodes:** 92
-- **Frames:** 32,711
+- **Episodes:** 122
+- **Frames:** 50,355
 - **FPS:** 30
 - **Cameras:** 3 × 640×480 (top / wrist / side)
 - **Format:** [LeRobot](https://github.com/huggingface/lerobot) v3.0
 
-This is the first collection pass; more episodes may follow.
+## Episode breakdown
+
+All episodes share the same task string; the failure-recovery split below is
+tracked by episode index, not encoded in the per-episode task field. Episodes
+92–121 were added to teach corrective behavior (the clean-only set never shows
+the policy how to recover from a bad approach).
+
+| Episodes | Kind | Count |
+| --- | --- | --- |
+| 0–91 | **Pristine** — clean approach, clear the cube, grasp center-of-faces | 92 |
+| 92–101 | **Corner grasp** — grabbing a corner, cube slides, recover + regrasp | 10 |
+| 102–111 | **Pushing into the table** — fingertip contact, back off, re-approach | 10 |
+| 112–121 | **Air grasp** — closing beside/above the cube, re-center + regrasp | 10 |

data/chunk-000/file-001.parquet

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meta/episodes/chunk-000/file-001.parquet

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meta/info.json

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         }
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+    "total_episodes": 122,
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     "robot_type": "so_follower",
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 }

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