Update README.md

README.md

@@ -10,21 +10,36 @@ contributors: Dr. Chris Clark (PI), Greta Perez-Haiek (Lead), Luca Macesanu, Kev
 environment: rectangular swimming pool at NYU CREO, filled with chlorinated water at about a little over a foot's depth of water. \
 factors: neutral background (shades of blue hexagons with white rimming), neutral lighting (well-lit and constant), disturbances & distractors (variable)
 
-current tasks and episode count: [LAST UPDATED: 8/10/2026]
+This folder contains 8 LeRobot-format (codebase_version v3.0) datasets recorded\
+on a BlueROV2 performing rod-grabbing tasks in a pool, with and without\
+simulated currents. Each dataset is packaged as a .zip containing the\
+standard LeRobot layout (data/, meta/, videos/).\
 
-(CONTROL)\
-"grab red rod" - 101 episodes - 23,550 frames\
-"grab green rod" - 101 episodes - 26,774 frames\
-"grab yellow rod" - 101 episodes - 22,628\
-"grab white rod" - 102 episodes - 26,853 frames (note: 2 episodes were noted as failures)
+Counts below are taken from each dataset's meta/info.json.
 
-(VARIABLE CURRENTS: a volunteer agitates the water up and down using a mop behind and towards the left of the robot. This generates waves in the pool water.)\
-"grab green rod under currents" - 25 episodes - 6,547 frames\
-"grab red rod under currents" - 28 episodes - 9,206 frames\
-"grab white rod under currents" - 25 episodes - 6,778 frames\
-"grab yellow rod under currents" - 25 episodes - 6,345 frames
+  - Episodes    = total_episodes  (number of recorded episode/trajectory runs)\
+  - Frames      = total_frames    (total timesteps across all episodes, fps = 50.0)\
+  - Trajectories = total_successes (episodes that ended in a successful grab)\
 
-note: "non-imu_data" folder regards data collected before upgrade from 6-dim obs. space to a 30-dim obs. space... \
-that folder is there as a reference, but should not be used to train any new models that expect a 30-dim obs. space.
+Dataset                              Episodes   Frames   Trajectories (successes)\
+------------------------------------------------------------------------------\
+grab green rod                            101    26774                        101\
+grab green rod under currents             110    37982                        101\
+grab red rod                              101    23550                        101\
+grab red rod under currents               102    30171                        101\
+grab white rod                            102    26853                        100\
+grab white rod under currents             101    27934                        101\
+grab yellow rod                           101    22628                        101\
+grab yellow rod under currents            102    28220                        101\
 
-questions? reach out to greta: gp2583@nyu.edu
+Notes:\
+- "Episodes" counts every recorded run, including any that did not end in a\
+  successful grasp; "Trajectories" (total_successes) counts only the\
+  successful ones. In most of these datasets nearly all episodes succeeded\
+  (only "grab white rod" has 2 non-successful episodes: 102 episodes vs 100\
+  successes).\
+- Frame count varies with episode length/duration, not just episode count —\
+  e.g. "grab green rod under currents" has the most episodes (110) and by far\
+  the most frames (37982), consistent with currents making the task take\
+  longer per episode.\
+- robot_type: bluerov2, single task per dataset (total_tasks = 1).