Dataset card

README.md

@@ -43,21 +43,45 @@ ds = load_dataset("FactoryNet4/factorynet", split="train", streaming=True)
 print(next(iter(ds)))
 ```
 
-Or read the Parquet directly, which is usually what you want for time series:
+Or read the Parquet directly, which is usually what you want for time series.
+`cnc_000.parquet` is 1.1 MB, so this is a fast first look:
 
 ```python
 import pandas as pd
 from huggingface_hub import hf_hub_download
 
-p = hf_hub_download("FactoryNet4/factorynet", "data/factorywave_ur3_000.parquet",
+p = hf_hub_download("FactoryNet4/factorynet", "data/cnc_000.parquet",
                     repo_type="dataset")
 df = pd.read_parquet(p)
 
-# every setpoint/effort pair, for any embodiment, without vendor-specific names
+# the same four prefixes on every machine, without vendor-specific names
 S = [c for c in df.columns if c.startswith("setpoint_")]
 E = [c for c in df.columns if c.startswith("effort_")]
+F = [c for c in df.columns if c.startswith("feedback_")]
+C = [c for c in df.columns if c.startswith("ctx_")]
 ```
 
+The same five lines work unchanged on a 6-DOF arm. The consolidated real UR
+recording, `data/factorywave_ur_consolidated.parquet`, is 992 MB with 7,129,261
+rows and 125 columns (44 Setpoint, 19 Effort, 25 Feedback, 30 Context), so pass
+`columns=[...]` to `read_parquet` rather than loading it whole.
+
+### What is where
+
+| Prefix in `data/` | Source | Files |
+|---|---|---|
+| `factorywave_*` | our laboratory UR3 and KUKA KR10 recordings, incl. screwdriver telemetry and episode metadata | 6 |
+| `voraus_*` | voraus-AD | 60 |
+| `aursad_*` | AURSAD | 32 |
+| `cnc_*` | UMich CNC milling | 1 |
+| `simulations_baseline_*` | simulated nominal episodes | 11 |
+| `simulations_counterfactual_*` | matched simulated counterfactuals | 10 |
+
+`data/` is 13.7 GB of Parquet. The repository also carries the paired sim-to-real
+gap artifacts used for the validation campaign: `real_csv/` and `sim_csv/` (episodes
+paired by filename), `pick_configs/` (per-episode simulation parameters), and
+`gap_reports/` + `summary/` (per-episode and aggregated gap analysis).
+
 ## The S-E-F-C schema
 
 One wide table per source: one row per control tick, joined to an episode table by
@@ -77,7 +101,7 @@ This separation is the point of the corpus. Existing industrial datasets log sen
 *outcomes* without distinguishing what the controller asked for from what the machine did,
 which makes cross-machine dynamics learning hard to set up at all.
 
-## Composition
+## Composition (the corpus as reported in the paper)
 
 | Source | Machine | Tasks | Faults | Episodes | Timesteps |
 |---|---|---|---|---|---|
@@ -92,12 +116,18 @@ which makes cross-machine dynamics learning hard to set up at all.
 1,553 real counterfactual episodes accompany the faulty runs. Of the 10,662 lab episodes,
 ~28% are healthy and ~72% contain an injected fault.
 
-### Synthetic track
+### Synthetic track — read this before comparing against the paper
+
+**This snapshot carries the earlier Isaac Sim 4.5.0 synthetic campaign**
+(`simulations_baseline_*` and `simulations_counterfactual_*`), not the five-arm
+41,744-episode campaign the paper reports. That campaign is Isaac Sim 5.1 / Isaac Lab
+2.3 across UR3, UR5, UR10, UR30 and KR10, and is being uploaded during the review
+period. Every real subset here is final and matches the paper.
 
-41,744 validated Pick & Place episodes across five arms, generated in NVIDIA Isaac Sim 5.1
-/ Isaac Lab 2.3 (GPU-batched PhysX at 500 Hz; control and logging at 125 Hz for UR and
-83.3 Hz for the KR10, no resampling). Six fault classes: payload addition, motor
-miscommutation, gripper activation failure, gripper release, collision, path obstacle.
+The 5.1 campaign runs GPU-batched PhysX at 500 Hz, with control and logging at 125 Hz
+for the UR arms and 83.3 Hz for the KR10 (the KRC interpolation cycle), no resampling.
+Six fault classes: payload addition, motor miscommutation, gripper activation failure,
+gripper release, collision, path obstacle.
 
 Every episode passes a two-stage validity gate — structural (plausible length, complete
 phases, part placed, injected event present, non-zero contact force) and trace (every