diff --git a/.gitattributes b/.gitattributes
new file mode 100644
index 0000000000000000000000000000000000000000..53b7d940e61ff515c4ad3a1b4da31452a38a12d5
--- /dev/null
+++ b/.gitattributes
@@ -0,0 +1,2 @@
+data/** filter=lfs diff=lfs merge=lfs -text
+downloads/*.zip filter=lfs diff=lfs merge=lfs -text
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..fdeb39c54a461ee732b09d60ff62b7492aeb93d3
--- /dev/null
+++ b/README.md
@@ -0,0 +1,72 @@
+---
+pretty_name: ReFrame Handheld Demonstration Dataset
+language:
+- en
+- zh
+tags:
+- robotics
+- imitation-learning
+- video
+- timeseries
+- multi-view
+---
+# ReFrame Handheld Demonstration Dataset
+
+ReFrame-Handheld provides real handheld operation recordings for studying how demonstrations can be reused across camera configurations. It contains **1,651 independent recordings across four manipulation tasks**, with camera images, per-frame timestamps, raw SLAM poses, gripper readings and camera calibration.
+
+The data supports inspecting viewpoint changes, testing geometric reprojection and comparing transformed images with available real reference-camera observations. Videos and structured numerical files can be read without a ROS environment.
+
+**1,651 recordings · 4 tasks · approximately 303 recorded minutes · 67 GB of episode data**
+
+## Observations
+
+- **1,451 recordings** contain main RGB, left and right grayscale cameras, and a real USB reference-camera stream.
+- **200 recordings** contain main RGB without auxiliary images.
+- All recordings retain SLAM pose and gripper samples. Each episode references its applicable calibration profile.
+
+The recordings use the same brand and model of capture device with **three camera-extrinsic configurations**. The [dataset overview](docs/DATASET_OVERVIEW.md) describes the observation types, statistics and counting rules.
+
+## Tasks
+
+| Task | Independent recordings | Approximate episode download size |
+| --- | ---: | ---: |
+| Carrot picking and placing | 696 | 34.49 GB |
+| Button pressing | 500 | 19.69 GB |
+| Drawer opening | 255 | 9.01 GB |
+| Cup hanging | 200 | 4.05 GB |
+| **Total** | **1,651** | **67.25 GB** |
+
+Sizes refer to episode files, excluding the optional starter ZIP and shared documentation. Recorded duration includes recording margins and is counted once per operation, not once per camera.
+
+## Download and try
+
+**[Start with 17 complete examples](downloads/reframe_handheld_starter_17.zip)** — approximately 788 MB, covering all retained acquisition batches and all four tasks. The ZIP includes calibration, reading tools and instructions, and works independently after extraction.
+
+All episode data is distributed as TAR shards, grouped by task and acquisition batch. Each shard contains complete episodes with their original files and paths. The [download tool](docs/QUICKSTART.md) downloads the required shards, verifies SHA256 and extracts the selected episodes with their calibration. Selecting one episode downloads its containing shard; see [the archive index](metadata/shards.jsonl) for exact sizes.
+
+Open an MP4 directly to inspect a recording. For Python access to images, timestamps, poses, gripper readings and calibration, follow the [quickstart](docs/QUICKSTART.md).
+
+## Documentation
+
+- [Dataset overview and statistics](docs/DATASET_OVERVIEW.md)
+- [File format and reading interfaces](docs/FORMAT.md)
+- [Timestamp semantics and optional frame matching](docs/TIME_ALIGNMENT.md)
+- [Camera calibration](docs/CALIBRATION.md)
+- [Selection, task-outcome labels and known limitations](docs/QUALITY.md)
+
+The dataset preserves original operation sequences and quality annotations. See the linked documentation for timestamp interpretation, outcome labels and calibration applicability.
+
+## License and citation
+
+[TO FILL: confirmed dataset license]
+
+[TO FILL: authors and paper citation]
+
+[TO FILL: paper, code repository and contact]
+
+This dataset accompanies ReFrame: Reusing Handheld Demonstrations Across Wrist-Camera Configurations. Licensing and paper citation details are pending owner confirmation.
+
+
+## Additional calibration candidates
+
+Brown5 and fisheye4 intrinsic refits are available for the Alice and David USB cameras. They are optional candidates; episode references continue to use the historical calibration profiles. See [the 2026-10-29 calibration update](docs/USB_INTRINSIC_REFITS_20261029.md).
diff --git a/README_zh.md b/README_zh.md
new file mode 100644
index 0000000000000000000000000000000000000000..a4d546699bfb97073c7cf88468624998ce5d1895
--- /dev/null
+++ b/README_zh.md
@@ -0,0 +1,60 @@
+# ReFrame-Handheld 手持操作数据集
+
+ReFrame-Handheld面向手持示教的视角转换研究，提供**1651条独立操作记录，覆盖四类任务**。数据包含真实相机图像、逐帧时间戳、原始SLAM位姿、夹爪读数及配套内外参。
+
+研究者可以利用这些观测分析视角变化、测试几何重投影，并在有真实参考相机的记录上比较转换结果。独立视频和结构化数值文件无需ROS环境即可读取。
+
+**1651条记录 · 4类任务 · 约303分钟 · episode数据约67GB**
+
+## 观测组成
+
+- **1451条记录**包含主摄彩色图像、左右灰度相机和真实USB参考相机观测。
+- **200条记录**仅包含主摄图像，没有辅助相机视频。
+- 所有记录均保留位姿和夹爪采样，并引用对应的相机标定配置。
+
+数据使用同品牌同型号的采集设备，包含**三组相机外参配置**。观测类型、统计口径和规模详见[数据概况](docs/DATASET_OVERVIEW.md)。
+
+## 任务与规模
+
+| 任务 | 独立记录 | episode下载体积约 |
+| --- | ---: | ---: |
+| 抓萝卜与放置 | 696 | 34.49GB |
+| 按按钮 | 500 | 19.69GB |
+| 开抽屉 | 255 | 9.01GB |
+| 挂杯 | 200 | 4.05GB |
+| **合计** | **1651** | **67.25GB** |
+
+体积不包含额外的体验ZIP和公共说明。记录时长包含采集前后停顿，按独立操作累计，不按相机数量重复计算。
+
+## 下载与体验
+
+**[先下载17条完整样例](downloads/reframe_handheld_starter_17.zip)**：约788MB，覆盖所有保留批次和四类任务，包含标定、读取工具及说明，解压后可独立使用。
+
+正式episode数据统一存放于TAR分片包，按任务和采集批次分组，每条episode保持完整。[下载工具](docs/QUICKSTART.md)支持选择单条、任务或全量，校验分片SHA256后解出所选episode并获取配套标定。选择单条时仍需下载其所在分片；每包大小见[分片索引](metadata/shards.jsonl)。解包后保留原来的任务、批次和episode目录。
+
+直接打开MP4即可查看操作过程；需要用Python读取图像、时间戳、位姿、夹爪或标定时，参见[快速开始](docs/QUICKSTART.md)。
+
+## 详细说明
+
+- [数据概况与统计](docs/DATASET_OVERVIEW.md)
+- [文件格式与读取接口](docs/FORMAT.md)
+- [时间戳与可选配帧](docs/TIME_ALIGNMENT.md)
+- [内外参](docs/CALIBRATION.md)
+- [筛选规则、任务结果标记和已知限制](docs/QUALITY.md)
+
+数据保留原始操作过程和质量标记；时间戳来源、任务结果标注及标定适用范围见详细说明。
+
+## 许可与引用
+
+【待填：数据许可证】
+
+【待填：作者与论文引用信息】
+
+【待填：论文、代码仓库与联系方式】
+
+本数据集配套论文 ReFrame: Reusing Handheld Demonstrations Across Wrist-Camera Configurations。许可证与论文引用信息待补充。
+
+
+## 新增相机标定候选
+
+Alice和David的USB相机现提供Brown5与fisheye4两种重新拟合的内参候选。episode仍引用原有历史标定配置。参数、对比与适用限制见[2026年10月29日标定更新](docs/USB_INTRINSIC_REFITS_20261029.md)。
diff --git a/calibration/rig_1203_0810_0812_v1/extrinsics/left_fisheye_to_main_rgb.json b/calibration/rig_1203_0810_0812_v1/extrinsics/left_fisheye_to_main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c3f9d9ad6339bc4478fce3facc4b2ee6106cdbe
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/extrinsics/left_fisheye_to_main_rgb.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      0.9998458932401821,
+      -0.01267232634660912,
+      -0.012149152880236396
+    ],
+    [
+      0.012587675054071207,
+      0.9998961366188608,
+      -0.007019003590903665
+    ],
+    [
+      0.012236838132272077,
+      0.006864992326364356,
+      0.9999015609913222
+    ]
+  ],
+  "t_m": [
+    -0.03993,
+    -0.00226,
+    -0.00148
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_left_to_main.yaml",
+  "effective_sha256": "9270524d8d296c2c28c954013da7266a714f2a152940993001ad1e0478b7c4d8"
+}
diff --git a/calibration/rig_1203_0810_0812_v1/extrinsics/left_fisheye_to_right_fisheye.json b/calibration/rig_1203_0810_0812_v1/extrinsics/left_fisheye_to_right_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..2939ca5e1a100b76c49ee8d28de14041a6c07a96
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/extrinsics/left_fisheye_to_right_fisheye.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "right_fisheye",
+  "R": [
+    [
+      0.9994076550377042,
+      -0.026750717544816272,
+      -0.021650361726183762
+    ],
+    [
+      0.026764105902888344,
+      0.9996417230771475,
+      0.000328813884323582
+    ],
+    [
+      0.021633808893861507,
+      -0.0009080716871510678,
+      0.9997655493757298
+    ]
+  ],
+  "t_m": [
+    -0.07977085381663764,
+    -0.0004515703462988796,
+    -0.0004526207982079675
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": true,
+  "effective_source_filename": "left_right_extrinsic_1203_0812.yaml",
+  "effective_sha256": "fd1580991b711d3a4cee4232374eff010bb37a21cf43121243d3b95f8786cb15"
+}
diff --git a/calibration/rig_1203_0810_0812_v1/extrinsics/right_fisheye_to_main_rgb.json b/calibration/rig_1203_0810_0812_v1/extrinsics/right_fisheye_to_main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..e361c8b9e782dae6aaec583e1f3dea0b710e5fc3
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/extrinsics/right_fisheye_to_main_rgb.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "right_fisheye",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      0.9998556669395067,
+      0.014088200418578216,
+      0.00949567785467693
+    ],
+    [
+      -0.014015756349978235,
+      0.9998724868302449,
+      -0.007653015996347438
+    ],
+    [
+      -0.009602284253857818,
+      0.007518822305937664,
+      0.9999256289585939
+    ]
+  ],
+  "t_m": [
+    0.03984,
+    -0.00293,
+    -0.00179
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_right_to_main.yaml",
+  "effective_sha256": "d0019ea36ea1c3f61c410e996901a8ec909ee365b9b86a1f8822acfbf6ac071f"
+}
diff --git a/calibration/rig_1203_0810_0812_v1/extrinsics/usb_reference_to_main_rgb.json b/calibration/rig_1203_0810_0812_v1/extrinsics/usb_reference_to_main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6d188a32ead817dac993f1c51ac8c1e1135a8f9
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/extrinsics/usb_reference_to_main_rgb.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "usb_reference",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      -0.9999892236827126,
+      -0.0044500401158266345,
+      -0.0013227476759382283
+    ],
+    [
+      0.0028058358573553013,
+      -0.8063229858149401,
+      0.591468824057213
+    ],
+    [
+      -0.0036986218498576543,
+      0.5914587387886396,
+      0.8063267827047318
+    ]
+  ],
+  "t_m": [
+    -0.00828,
+    -0.03646,
+    0.02593
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_umi_color_to_usb_wide_0724.yaml",
+  "effective_sha256": "001a31976eb887af58993805ae7cf54be937b5a91a07b682e94c0ca9b0888693"
+}
diff --git a/calibration/rig_1203_0810_0812_v1/intrinsics/left_fisheye.json b/calibration/rig_1203_0810_0812_v1/intrinsics/left_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8077e71bedfb25fb62d2aa627beb0ba20df048
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/intrinsics/left_fisheye.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      232.2078,
+      0.0,
+      312.1223
+    ],
+    [
+      0.0,
+      232.1814,
+      233.5297
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.489978,
+    -0.072472,
+    -0.000454,
+    0.000374,
+    -0.004259,
+    0.816118,
+    -0.003648,
+    -0.023092
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-08-12",
+  "camera_role": "left_fisheye",
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "source_filename": "left_fisheye_1203_0812.yaml",
+  "source_sha256": "494ddbd062f435947ba918e3bd9800ee48c9f25604f132fe8a152c5db00456a9",
+  "effective_sha256": "494ddbd062f435947ba918e3bd9800ee48c9f25604f132fe8a152c5db00456a9"
+}
diff --git a/calibration/rig_1203_0810_0812_v1/intrinsics/main_rgb.json b/calibration/rig_1203_0810_0812_v1/intrinsics/main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..26f5a99bc7c8ec1a685ecd226b745510c0edeae5
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/intrinsics/main_rgb.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    1280,
+    1280
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      391.7681,
+      0.0,
+      642.1947
+    ],
+    [
+      0.0,
+      391.6323,
+      643.3954
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.54903,
+    0.049366,
+    -1e-05,
+    -6e-05,
+    0.000324,
+    0.793575,
+    0.140429,
+    0.003754
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-08-12",
+  "camera_role": "main_rgb",
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "source_filename": "color_camera_1203_0812.yaml",
+  "source_sha256": "e0d9519f40fde83752ac7cc4d09e8b6727858790bb9e6947f9b2fb7438d0bb66",
+  "effective_sha256": "e0d9519f40fde83752ac7cc4d09e8b6727858790bb9e6947f9b2fb7438d0bb66"
+}
diff --git a/calibration/rig_1203_0810_0812_v1/intrinsics/right_fisheye.json b/calibration/rig_1203_0810_0812_v1/intrinsics/right_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd74f471feac8423a471f778ec6742a9c7e1696c
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/intrinsics/right_fisheye.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      231.6127,
+      0.0,
+      312.6375
+    ],
+    [
+      0.0,
+      231.5104,
+      230.4108
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    2.230374,
+    0.696724,
+    -0.000192,
+    9.3e-05,
+    0.013803,
+    2.560802,
+    1.326278,
+    0.106642
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-08-12",
+  "camera_role": "right_fisheye",
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "source_filename": "right_fisheye_1203_0812.yaml",
+  "source_sha256": "4686995d3dafcb9d1815e46ec127649dda5e67128ae1069b605042890df030d5",
+  "effective_sha256": "eefd8a97d90c7dcb3bd220133dfc4d13f5da03f73c15321eee2204ab337645e7"
+}
diff --git a/calibration/rig_1203_0810_0812_v1/intrinsics/usb_reference.json b/calibration/rig_1203_0810_0812_v1/intrinsics/usb_reference.json
new file mode 100644
index 0000000000000000000000000000000000000000..176815f7bac2e1c61902f7b6ccac65a4065db2a0
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/intrinsics/usb_reference.json
@@ -0,0 +1,45 @@
+{
+  "image_size_wh": [
+    1920,
+    1080
+  ],
+  "model": "opencv_brown_5",
+  "K": [
+    [
+      1363.0167576897156,
+      0.0,
+      951.1019913348517
+    ],
+    [
+      0.0,
+      1362.753998132177,
+      446.19251047109236
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    -0.4337996347908218,
+    0.23117768938874614,
+    0.00012074749212048048,
+    0.00026192620746209,
+    -0.06489725424558064
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-08-10 15:41:46",
+  "camera_role": "usb_reference",
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "source_filename": "usb_david_0810.yaml",
+  "source_sha256": "5d185d12b0216b0079d9a3ca8e8bfc9c0c24f58f94405688693a7f62f84eb547",
+  "effective_sha256": "d13fde63c2a04387878e07e72140cb1c28ed4d410342e3c162045fafad972c26"
+}
diff --git a/calibration/rig_1203_0810_0812_v1/manifest.json b/calibration/rig_1203_0810_0812_v1/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a157ec610d5c583429992b26bd11b44c412bd95
--- /dev/null
+++ b/calibration/rig_1203_0810_0812_v1/manifest.json
@@ -0,0 +1,25 @@
+{
+  "calibration_id": "rig_1203_0810_0812_v1",
+  "rig_id": "1203",
+  "intrinsics": {
+    "main_rgb": "intrinsics/main_rgb.json",
+    "left_fisheye": "intrinsics/left_fisheye.json",
+    "right_fisheye": "intrinsics/right_fisheye.json",
+    "usb_reference": "intrinsics/usb_reference.json"
+  },
+  "extrinsics": {
+    "usb_reference_to_main_rgb": "extrinsics/usb_reference_to_main_rgb.json",
+    "left_fisheye_to_main_rgb": "extrinsics/left_fisheye_to_main_rgb.json",
+    "right_fisheye_to_main_rgb": "extrinsics/right_fisheye_to_main_rgb.json",
+    "left_fisheye_to_right_fisheye": "extrinsics/left_fisheye_to_right_fisheye.json"
+  },
+  "quality_notes": [],
+  "missing_extrinsics": [],
+  "coordinate_axes": "OpenCV camera axes: X right, Y down, Z forward; column vectors",
+  "units": {
+    "translation": "m",
+    "focal_length_and_principal_point": "pixel"
+  },
+  "tracked_body_to_main_optical": null,
+  "tracked_body_to_main_optical_status": "not_verified_in_release_registry"
+}
diff --git a/calibration/rig_1403_0722_0724_v1/extrinsics/left_fisheye_to_right_fisheye.json b/calibration/rig_1403_0722_0724_v1/extrinsics/left_fisheye_to_right_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0ec98c1e2ba4480be82fda54d0e8f7d64059ba9
--- /dev/null
+++ b/calibration/rig_1403_0722_0724_v1/extrinsics/left_fisheye_to_right_fisheye.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "right_fisheye",
+  "R": [
+    [
+      0.9999646623768987,
+      0.007987730426432044,
+      0.0026210990230840984
+    ],
+    [
+      -0.007957678585062375,
+      0.9999046892577458,
+      -0.011282187372420182
+    ],
+    [
+      -0.002710968275542661,
+      0.011260930823169594,
+      0.9999329187940569
+    ]
+  ],
+  "t_m": [
+    -0.08042312946088381,
+    0.000274876422363117,
+    0.0011883514281362806
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "left_right_extrinsic_0722.yaml",
+  "effective_sha256": "234e777300889ac0956b47c3160c27efbe9057bb08e523d550b4975d2db30565"
+}
diff --git a/calibration/rig_1403_0722_0724_v1/extrinsics/usb_reference_to_main_rgb.json b/calibration/rig_1403_0722_0724_v1/extrinsics/usb_reference_to_main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f7db0ce9143307bec1e9b7bca0ea34edd3d101d
--- /dev/null
+++ b/calibration/rig_1403_0722_0724_v1/extrinsics/usb_reference_to_main_rgb.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "usb_reference",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      -0.99997846,
+      0.0034439,
+      0.00558787
+    ],
+    [
+      2.531e-05,
+      -0.84927453,
+      0.52795148
+    ],
+    [
+      0.00656384,
+      0.52794025,
+      0.84925615
+    ]
+  ],
+  "t_m": [
+    -0.00095315,
+    -0.04138727,
+    0.02711765
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_umi_color_to_usb_wide_0724.yaml",
+  "effective_sha256": "8612d81a156cc2ddbd2b3314491e20463dea22ecd2fe326541d0b7ec17a9c3ae"
+}
diff --git a/calibration/rig_1403_0722_0724_v1/intrinsics/left_fisheye.json b/calibration/rig_1403_0722_0724_v1/intrinsics/left_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..0393ac35ff966c47080095e1d36e913e88b56249
--- /dev/null
+++ b/calibration/rig_1403_0722_0724_v1/intrinsics/left_fisheye.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      232.45,
+      0.0,
+      312.21
+    ],
+    [
+      0.0,
+      232.46,
+      230.55
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.1637,
+    -0.0494,
+    -0.0002,
+    -0.0002,
+    -0.0008,
+    0.4744,
+    -0.0609,
+    -0.0074
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-22",
+  "camera_role": "left_fisheye",
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "source_filename": "left_fisheye_1403_0722.yaml",
+  "source_sha256": "d74d16fc2ea691d44da6af04da0319463b3445b8a02e32cdc8f4d09216e21135",
+  "effective_sha256": "d74d16fc2ea691d44da6af04da0319463b3445b8a02e32cdc8f4d09216e21135"
+}
diff --git a/calibration/rig_1403_0722_0724_v1/intrinsics/main_rgb.json b/calibration/rig_1403_0722_0724_v1/intrinsics/main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..2186a387ee2d422a22e756fbf8d496c9ae28617e
--- /dev/null
+++ b/calibration/rig_1403_0722_0724_v1/intrinsics/main_rgb.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    1280,
+    1280
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      391.42,
+      0.0,
+      643.94
+    ],
+    [
+      0.0,
+      392.03,
+      636.51
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.1983,
+    0.0048,
+    0.0001,
+    -0.0001,
+    0.0,
+    0.417,
+    0.0249,
+    0.0002
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-22 18:01:41",
+  "camera_role": "main_rgb",
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "source_filename": "color_camera_1403_0722.yaml",
+  "source_sha256": "ff13fc4df79f35af6efeaa3fef6c7ca61c58ca6240911da7d8f33442483b0997",
+  "effective_sha256": "ff13fc4df79f35af6efeaa3fef6c7ca61c58ca6240911da7d8f33442483b0997"
+}
diff --git a/calibration/rig_1403_0722_0724_v1/intrinsics/right_fisheye.json b/calibration/rig_1403_0722_0724_v1/intrinsics/right_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..a89b8f51640aaa7c3810d0930fd8a27250369184
--- /dev/null
+++ b/calibration/rig_1403_0722_0724_v1/intrinsics/right_fisheye.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      231.11,
+      0.0,
+      313.07
+    ],
+    [
+      0.0,
+      231.0,
+      236.0
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.4666,
+    0.0226,
+    -0.0,
+    -0.0,
+    0.0001,
+    0.7843,
+    0.0968,
+    0.0013
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-22",
+  "camera_role": "right_fisheye",
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "source_filename": "right_fisheye_1403_0722.yaml",
+  "source_sha256": "2784f76a1dfa6f7545ac3127c70d16028b091df583a67cc49aacd7120be2a3a8",
+  "effective_sha256": "2784f76a1dfa6f7545ac3127c70d16028b091df583a67cc49aacd7120be2a3a8"
+}
diff --git a/calibration/rig_1403_0722_0724_v1/intrinsics/usb_reference.json b/calibration/rig_1403_0722_0724_v1/intrinsics/usb_reference.json
new file mode 100644
index 0000000000000000000000000000000000000000..05cc930a67f0e90dc2214c8c00a451a8cb2d60ab
--- /dev/null
+++ b/calibration/rig_1403_0722_0724_v1/intrinsics/usb_reference.json
@@ -0,0 +1,45 @@
+{
+  "image_size_wh": [
+    1920,
+    1080
+  ],
+  "model": "opencv_brown_5",
+  "K": [
+    [
+      1377.57,
+      0.0,
+      918.67
+    ],
+    [
+      0.0,
+      1379.27,
+      501.37
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    -0.4312,
+    0.218,
+    -0.0005,
+    -0.0011,
+    -0.055
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-24 15:24:19",
+  "camera_role": "usb_reference",
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "source_filename": "usb_camera_wide_angle_0724.yaml",
+  "source_sha256": "50b21ffef04c8d1dca81c89254c6b4381ddb7169fcc203da4c135ecd717833a9",
+  "effective_sha256": "50b21ffef04c8d1dca81c89254c6b4381ddb7169fcc203da4c135ecd717833a9"
+}
diff --git a/calibration/rig_1403_0722_0724_v1/manifest.json b/calibration/rig_1403_0722_0724_v1/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5a84ad5b68505387c79509da1f30cc7a6bdd00e
--- /dev/null
+++ b/calibration/rig_1403_0722_0724_v1/manifest.json
@@ -0,0 +1,29 @@
+{
+  "calibration_id": "rig_1403_0722_0724_v1",
+  "rig_id": "1403",
+  "intrinsics": {
+    "main_rgb": "intrinsics/main_rgb.json",
+    "left_fisheye": "intrinsics/left_fisheye.json",
+    "right_fisheye": "intrinsics/right_fisheye.json",
+    "usb_reference": "intrinsics/usb_reference.json"
+  },
+  "extrinsics": {
+    "usb_reference_to_main_rgb": "extrinsics/usb_reference_to_main_rgb.json",
+    "left_fisheye_to_right_fisheye": "extrinsics/left_fisheye_to_right_fisheye.json"
+  },
+  "quality_notes": [
+    "Main–USB historical epipolar median 17.9 px, score 3/6; not high-accuracy GT calibration.",
+    "L–R use PnP version; reject old measured version."
+  ],
+  "missing_extrinsics": [
+    "left_to_main",
+    "right_to_main"
+  ],
+  "coordinate_axes": "OpenCV camera axes: X right, Y down, Z forward; column vectors",
+  "units": {
+    "translation": "m",
+    "focal_length_and_principal_point": "pixel"
+  },
+  "tracked_body_to_main_optical": null,
+  "tracked_body_to_main_optical_status": "not_verified_in_release_registry"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/extrinsics/left_fisheye_to_main_rgb.json b/calibration/rig_2650_0730_0804_v1/extrinsics/left_fisheye_to_main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cd0a14fa67c5dc5428b8ccb35e9201117e7fef3
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/extrinsics/left_fisheye_to_main_rgb.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      0.99803743,
+      0.01275136,
+      -0.06130811
+    ],
+    [
+      -0.01183222,
+      0.99981245,
+      0.01533188
+    ],
+    [
+      0.06149211,
+      -0.01457638,
+      0.99800113
+    ]
+  ],
+  "t_m": [
+    -0.04026079,
+    -0.00110819,
+    -0.00193381
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_left_to_main.yaml",
+  "effective_sha256": "a6ec68967e345243384148dae0b2f178ed0f5517062d813b85edfad67b80f0d3"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/extrinsics/left_fisheye_to_right_fisheye.json b/calibration/rig_2650_0730_0804_v1/extrinsics/left_fisheye_to_right_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..0294881dcb59208e709b5c60ff5ce0430ce53dca
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/extrinsics/left_fisheye_to_right_fisheye.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "left_fisheye",
+  "target_frame": "right_fisheye",
+  "R": [
+    [
+      0.9978898676901646,
+      0.000810323638665263,
+      -0.06492422765737593
+    ],
+    [
+      0.0022497220630893038,
+      0.998890209349687,
+      0.04704559932637355
+    ],
+    [
+      0.0648902975177723,
+      -0.04709238835458931,
+      0.9967805958419915
+    ]
+  ],
+  "t_m": [
+    -0.08028527127458641,
+    0.0003068418009316648,
+    -0.0005343325539124435
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": true,
+  "effective_source_filename": "left_right_extrinsic_2650_0804.yaml",
+  "effective_sha256": "33e99ee7e60d4a9f2b796828a6312a55823161339b206ca6670e31eab1e79e98"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/extrinsics/right_fisheye_to_main_rgb.json b/calibration/rig_2650_0730_0804_v1/extrinsics/right_fisheye_to_main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d84a0240c641db0f452354235a51e937feca86c
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/extrinsics/right_fisheye_to_main_rgb.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "right_fisheye",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      0.99992216,
+      0.01209824,
+      0.00305172
+    ],
+    [
+      -0.01199249,
+      0.99939754,
+      -0.03256883
+    ],
+    [
+      -0.00344391,
+      0.0325297,
+      0.99946484
+    ]
+  ],
+  "t_m": [
+    0.04001615,
+    -0.00239507,
+    -0.00168624
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_right_to_main.yaml",
+  "effective_sha256": "2958b3de8c492d963866c3dc0117209c97f97dd89b39a6abf1c4baa0938fd203"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/extrinsics/usb_reference_to_main_rgb.json b/calibration/rig_2650_0730_0804_v1/extrinsics/usb_reference_to_main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..530a3e88bdde925561896d286c2ca419e662f76e
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/extrinsics/usb_reference_to_main_rgb.json
@@ -0,0 +1,30 @@
+{
+  "source_frame": "usb_reference",
+  "target_frame": "main_rgb",
+  "R": [
+    [
+      -0.99997931,
+      -0.00590923,
+      -0.00253997
+    ],
+    [
+      0.00326728,
+      -0.80683141,
+      0.59077271
+    ],
+    [
+      -0.00554034,
+      0.59075219,
+      0.80683403
+    ]
+  ],
+  "t_m": [
+    -0.00833921,
+    -0.03880935,
+    0.02578578
+  ],
+  "convention": "P_target = R @ P_source + t_m",
+  "derived_from_other_extrinsics": false,
+  "effective_source_filename": "extrinsic_umi_color_to_usb_wide_0724.yaml",
+  "effective_sha256": "a71d980764401127f9d5fbf98b53241da3d89c2547f47b887ca09688c9262e3b"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/intrinsics/left_fisheye.json b/calibration/rig_2650_0730_0804_v1/intrinsics/left_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b7c4f99e32de90c6675984cf338fa2c453220c3
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/intrinsics/left_fisheye.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      231.5727,
+      0.0,
+      306.2394
+    ],
+    [
+      0.0,
+      231.5162,
+      230.7293
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.54045785,
+    0.03851211,
+    -0.00021709,
+    1.493e-05,
+    0.00010904,
+    0.85834699,
+    0.1345997,
+    0.0026562
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-30 18:13:05",
+  "camera_role": "left_fisheye",
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "source_filename": "left_fisheye_2650_0730.yaml",
+  "source_sha256": "64dc27d55b23cb54e201f2acfb17245294f3266355dec205f0cf78502c5d0ca2",
+  "effective_sha256": "64dc27d55b23cb54e201f2acfb17245294f3266355dec205f0cf78502c5d0ca2"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/intrinsics/main_rgb.json b/calibration/rig_2650_0730_0804_v1/intrinsics/main_rgb.json
new file mode 100644
index 0000000000000000000000000000000000000000..24361eb27814c85d56f890fca9dcf5771262cd68
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/intrinsics/main_rgb.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    1280,
+    1280
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      387.8357,
+      0.0,
+      637.7379
+    ],
+    [
+      0.0,
+      387.7785,
+      641.5531
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.35926386,
+    0.01727146,
+    -7.018e-05,
+    2.147e-05,
+    5.126e-05,
+    0.60190036,
+    0.06558828,
+    0.00089595
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-30 18:13:05",
+  "camera_role": "main_rgb",
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "source_filename": "color_camera_2650_0730.yaml",
+  "source_sha256": "4f51db50b242c08806dd53570b467ed5e079005483fde8c49bc1f526b308ca1b",
+  "effective_sha256": "4f51db50b242c08806dd53570b467ed5e079005483fde8c49bc1f526b308ca1b"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/intrinsics/right_fisheye.json b/calibration/rig_2650_0730_0804_v1/intrinsics/right_fisheye.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b120f2cc17bae16fd71f67c325888b1a09b2d50
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/intrinsics/right_fisheye.json
@@ -0,0 +1,51 @@
+{
+  "image_size_wh": [
+    640,
+    480
+  ],
+  "model": "opencv_rational_8",
+  "K": [
+    [
+      234.96,
+      0.0,
+      319.5
+    ],
+    [
+      0.0,
+      234.93,
+      232.46
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    0.7557,
+    0.0771,
+    -0.0001,
+    0.0,
+    0.0005,
+    1.0837,
+    0.23,
+    0.0067
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3",
+    "k4",
+    "k5",
+    "k6"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-30 18:13:05",
+  "camera_role": "right_fisheye",
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "source_filename": "right_fisheye_2650_0730.yaml",
+  "source_sha256": "ad5ffe178b243785b46b8e51e7dcd98c7b6de258f6cb4e1c90e535c19e789ec0",
+  "effective_sha256": "ad5ffe178b243785b46b8e51e7dcd98c7b6de258f6cb4e1c90e535c19e789ec0"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/intrinsics/usb_reference.json b/calibration/rig_2650_0730_0804_v1/intrinsics/usb_reference.json
new file mode 100644
index 0000000000000000000000000000000000000000..38209f33275ca0577279245da91e60741e0a756f
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/intrinsics/usb_reference.json
@@ -0,0 +1,45 @@
+{
+  "image_size_wh": [
+    1920,
+    1080
+  ],
+  "model": "opencv_brown_5",
+  "K": [
+    [
+      1362.4507,
+      0.0,
+      1022.9523
+    ],
+    [
+      0.0,
+      1361.0758,
+      563.2031
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    -0.41729142,
+    0.19696135,
+    -0.00038256,
+    0.00011575,
+    -0.04643723
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "coefficient_order_note": "Runtime OpenCV vector order; some legacy labels incorrectly list k3 before p1/p2. Raw bytes retained, vector not reordered.",
+  "calibration_date": "2026-07-30 16:32:08",
+  "camera_role": "usb_reference",
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "source_filename": "usb_alice_0730.yaml",
+  "source_sha256": "7288878f64d6be9ac3a2461b5bcec299c6388ad1c39d0e0ee9b941da12233b22",
+  "effective_sha256": "7288878f64d6be9ac3a2461b5bcec299c6388ad1c39d0e0ee9b941da12233b22"
+}
diff --git a/calibration/rig_2650_0730_0804_v1/manifest.json b/calibration/rig_2650_0730_0804_v1/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ecc7d368fa9a4a12b76f8730fd9314529dd839
--- /dev/null
+++ b/calibration/rig_2650_0730_0804_v1/manifest.json
@@ -0,0 +1,25 @@
+{
+  "calibration_id": "rig_2650_0730_0804_v1",
+  "rig_id": "2650",
+  "intrinsics": {
+    "main_rgb": "intrinsics/main_rgb.json",
+    "left_fisheye": "intrinsics/left_fisheye.json",
+    "right_fisheye": "intrinsics/right_fisheye.json",
+    "usb_reference": "intrinsics/usb_reference.json"
+  },
+  "extrinsics": {
+    "usb_reference_to_main_rgb": "extrinsics/usb_reference_to_main_rgb.json",
+    "left_fisheye_to_main_rgb": "extrinsics/left_fisheye_to_main_rgb.json",
+    "right_fisheye_to_main_rgb": "extrinsics/right_fisheye_to_main_rgb.json",
+    "left_fisheye_to_right_fisheye": "extrinsics/left_fisheye_to_right_fisheye.json"
+  },
+  "quality_notes": [],
+  "missing_extrinsics": [],
+  "coordinate_axes": "OpenCV camera axes: X right, Y down, Z forward; column vectors",
+  "units": {
+    "translation": "m",
+    "focal_length_and_principal_point": "pixel"
+  },
+  "tracked_body_to_main_optical": null,
+  "tracked_body_to_main_optical_status": "not_verified_in_release_registry"
+}
diff --git a/calibration/usb_intrinsic_refits_20261029/README.md b/calibration/usb_intrinsic_refits_20261029/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..6e42002a700e8effac4000b2a27c8a8652c91a76
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/README.md
@@ -0,0 +1,23 @@
+# USB intrinsic model refits, 2026-10-29
+
+This add-on publishes independent Brown5 and OpenCV fisheye4 intrinsic candidates for Alice and David while retaining each episode's existing historical Brown calibration as its default. These refits are diagnostic alternatives; they do not change episode calibration references or claim that existing camera-to-camera extrinsics were jointly refitted with the new intrinsics.
+
+The camera is an ICSpring 1920×1080 USB reference camera. Alice uses 100 ChArUco views collected 2026-07-30; all 100 had at least 12 detected corners. David uses 200 views collected 2026-08-10; 199 passed the same corner threshold and one was not detected. David source images were transferred from `/home/ubuntu/captures_david` on the collection host to the calibration workspace; all 200 file sizes and SHA256 values matched.
+
+The board is 12×9 squares, 15 mm squares and 11.25 mm markers with DICT_5X5_250. Brown coefficients are `[k1,k2,p1,p2,k3]`. Fisheye coefficients are `[k1,k2,k3,k4]` and use `cv2.fisheye`. Fits use the same views for both models. The ordered images are split by index: every fifth valid view is held out; other views fit the model. Held-out scoring fixes intrinsics and estimates each board pose independently. Full-fit K/D use all valid views. See each `model_comparison.json`, split and source image hash manifest for details.
+
+## Results
+
+Held-out median and P90 are over per-image corner RMSE, in pixels.
+
+| Camera / view set | Held-out views | Full-fit RMS Brown / fisheye | Held-out median Brown / fisheye | Held-out P90 Brown / fisheye |
+| --- | ---: | ---: | ---: | ---: |
+| Alice, all valid views | 20 | 0.6541 / 0.6275 | 0.4047 / 0.3910 | 0.7097 / 0.6674 |
+| David, all valid views | 40 | 1.1291 / 1.1286 | 0.4943 / 0.4959 | 2.7401 / 2.7880 |
+| David, historical exclusions sensitivity set | 39 | 0.9145 / 0.9130 | 0.4293 / 0.4395 | 1.1429 / 1.1820 |
+
+Alice's fisheye fit is slightly better on the held-out set. David's two fits are effectively tied; the held-out scores do not establish fisheye as more accurate for David. The historical exclusion sensitivity result uses the prior file's seven numeric outlier IDs mapped to the matching `charuco_NNNN.png` suffixes; `charuco_0075.png` already failed detection, leaving 193 valid views. The same set is used for both models.
+
+Both new fisheye models pass a 41×25 full-image pixel round-trip check, with positive radial derivative over sampled rays. Brown refits show large inverse-round-trip errors at some extreme corners under OpenCV's iterative undistortion. This is an edge-domain numerical/inversion warning, not the held-out calibration residual and not a physical ground-truth claim. Fisheye is a useful candidate for edge geometry; broader validation and joint extrinsic refitting are still needed before changing episode defaults.
+
+All files in this add-on are versioned candidates. Historical files under the three `calibration/rig_*` directories remain unchanged. No raw calibration photos are included; their filenames, byte sizes and SHA256 hashes are recorded for provenance.
diff --git a/calibration/usb_intrinsic_refits_20261029/SHA256SUMS b/calibration/usb_intrinsic_refits_20261029/SHA256SUMS
new file mode 100644
index 0000000000000000000000000000000000000000..0464f4a0b2a988927ee4ea3e73369d6b36c7e88a
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/SHA256SUMS
@@ -0,0 +1,19 @@
+3e948ebafd32a9d0dad5c570c507e0f47dd3086d5d0bc07351872bc85e99ff8e  README.md
+c1d2d6345a38a9ce9ab7223eeae52761f1643e1a871cf046f7ab114f00934dc6  alice/intrinsics_brown5_candidate.json
+c36d370eb856e9cb875217114e1093d81990ffacecf38d29a39fccad25dca36c  alice/intrinsics_fisheye4_candidate.json
+f7f86b3440a03f279a3d8c3f7354ae8cd424efb7adc529b567321c1ff265c48e  alice/model_comparison.json
+a118d1ff76bc9a0e8e0cbc3cbab98974bebf0a15199498706eb79b5c7f5e5554  alice/per_image_diagnostics.json
+96c110f996a7d1d73bfb909e06b9e589ea11ff99bd1c65f99f640a1d5c638e64  alice/projection_checks.json
+3b06b543aab90f35be6221afbcbba3976f6e3ffc2bdd01d711492baa4dcac152  alice/source_image_manifest.json
+43dced4e5b7895f724b224d3391bc1afa9d50ddc9d4120c63def11b294510440  alice/split.json
+69749562fc5e113bacc3bcaee62444f296a604252c61be70624945ffde6e2318  david/intrinsics_brown5_candidate.json
+a8ee97f3d05315f6e0e001f2359d7b79fe945d0ab1f872bc2bd520d753d3f643  david/intrinsics_fisheye4_candidate.json
+38e456c479d5fffc1ad8e8958aa0a8e9ee1d0d139050bf7bce6372c1e1155a97  david/model_comparison.json
+6166dcd4da87a6e128ec1217615d79aa7f0b28c695c598ddfed3e062c791aa94  david/per_image_diagnostics.json
+5b186c08678c4f16e2e8336123ef87cbee5bedf9ea5eef846122469aadd64693  david/projection_checks.json
+b14a2d31e0056c67d927772d1c2af5c8d19e41bc2a86ff65746567d6d9807e09  david/source_image_manifest.json
+93ecf89323dc64aa2e22b08d0daa87b90384be5e34bd78f5f85badce2d45c8ae  david/split.json
+a9b25e40c9327b8f8761c0061f8357003453519159258b7e6d8d557438cac56d  david_legacy_exclusions/model_comparison.json
+a29e66ef5f738911bd2799a89948dbeb4c282a39f12c9f2c220370f550acd3a0  david_legacy_exclusions/selection.json
+ebc1010d1515dffec0684e67a53143d9c06fa4b20185d9ac5813f09e40d2b4e7  david_legacy_exclusions/split.json
+64e45517a6e7ccc430958221a817a7f1f927331bd539de165c3c70b3cb777159  summary.json
diff --git a/calibration/usb_intrinsic_refits_20261029/alice/intrinsics_brown5_candidate.json b/calibration/usb_intrinsic_refits_20261029/alice/intrinsics_brown5_candidate.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dbcf95721ffefe22bfb5dc4a01bfa9c720ba6cb
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/alice/intrinsics_brown5_candidate.json
@@ -0,0 +1,103 @@
+{
+  "calibration_id": "alice_0730_brown_refit_20261029",
+  "camera": "USB_Alice_ICSpring",
+  "model": "opencv_brown_5",
+  "image_size_wh": [
+    1920,
+    1080
+  ],
+  "K": [
+    [
+      1364.1220540579538,
+      0.0,
+      1026.0026196454999
+    ],
+    [
+      0.0,
+      1362.528593419764,
+      564.1630085304399
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    -0.4294650129366709,
+    0.22461404314797176,
+    -0.00032386213579330386,
+    -2.8242687453458567e-05,
+    -0.06301477655865889
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "p1",
+    "p2",
+    "k3"
+  ],
+  "fit_rms_px": 0.6541240717424801,
+  "fit_views": 100,
+  "calibration_method": "ChArUco, 12x9 squares, 15 mm square, 11.25 mm marker, DICT_5X5_250",
+  "intrinsics_only": true,
+  "extrinsics_refit": false,
+  "status": "independent_refit_candidate_not_active_release",
+  "source_manifest_sha256": "3b06b543aab90f35be6221afbcbba3976f6e3ffc2bdd01d711492baa4dcac152",
+  "heldout_evaluation": {
+    "views": 20,
+    "corners": 1439,
+    "per_view_rmse_median_px": 0.40471471528304415,
+    "per_view_rmse_p90_px": 0.709678566684187,
+    "corner_error_median_px": 0.3203780689445564,
+    "corner_error_p90_px": 0.7569822500959743,
+    "radial_bins": [
+      {
+        "radius_px": [
+          0.0,
+          211.43516049726978
+        ],
+        "count": 235,
+        "median_error_px": 0.24649489289067705,
+        "p90_error_px": 0.5576248851009584
+      },
+      {
+        "radius_px": [
+          211.43516049726978,
+          422.87032099453955
+        ],
+        "count": 451,
+        "median_error_px": 0.3086788152935449,
+        "p90_error_px": 0.6571771755997247
+      },
+      {
+        "radius_px": [
+          422.87032099453955,
+          634.3054814918094
+        ],
+        "count": 413,
+        "median_error_px": 0.32818707998461116,
+        "p90_error_px": 0.6887472576948912
+      },
+      {
+        "radius_px": [
+          634.3054814918094,
+          845.7406419890791
+        ],
+        "count": 260,
+        "median_error_px": 0.39277835480184786,
+        "p90_error_px": 0.8358045231378463
+      },
+      {
+        "radius_px": [
+          845.7406419890791,
+          1057.1758024863489
+        ],
+        "count": 80,
+        "median_error_px": 0.5060939530368047,
+        "p90_error_px": 1.0542336775197512
+      }
+    ]
+  },
+  "validation_note": "Held-out intrinsics fixed, board pose estimated on each image. Full-fit K/D use all views and are not the held-out model."
+}
diff --git a/calibration/usb_intrinsic_refits_20261029/alice/intrinsics_fisheye4_candidate.json b/calibration/usb_intrinsic_refits_20261029/alice/intrinsics_fisheye4_candidate.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d362d67f4f4056f85c24e15961cc99c03b01113
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/alice/intrinsics_fisheye4_candidate.json
@@ -0,0 +1,101 @@
+{
+  "calibration_id": "alice_0730_fisheye_refit_20261029",
+  "camera": "USB_Alice_ICSpring",
+  "model": "opencv_fisheye_4",
+  "image_size_wh": [
+    1920,
+    1080
+  ],
+  "K": [
+    [
+      1367.0134908459358,
+      0.0,
+      1027.1642550694369
+    ],
+    [
+      0.0,
+      1365.1345364383205,
+      562.3487096173069
+    ],
+    [
+      0.0,
+      0.0,
+      1.0
+    ]
+  ],
+  "D": [
+    -0.12682555619341565,
+    0.05185069632796296,
+    -0.07183976880932477,
+    0.038139532633799905
+  ],
+  "D_order": [
+    "k1",
+    "k2",
+    "k3",
+    "k4"
+  ],
+  "fit_rms_px": 0.6274743534237974,
+  "fit_views": 100,
+  "calibration_method": "ChArUco, 12x9 squares, 15 mm square, 11.25 mm marker, DICT_5X5_250",
+  "intrinsics_only": true,
+  "extrinsics_refit": false,
+  "status": "independent_refit_candidate_not_active_release",
+  "source_manifest_sha256": "3b06b543aab90f35be6221afbcbba3976f6e3ffc2bdd01d711492baa4dcac152",
+  "heldout_evaluation": {
+    "views": 20,
+    "corners": 1439,
+    "per_view_rmse_median_px": 0.39100638896422624,
+    "per_view_rmse_p90_px": 0.6674147736573596,
+    "corner_error_median_px": 0.2859277098386043,
+    "corner_error_p90_px": 0.6990835137645203,
+    "radial_bins": [
+      {
+        "radius_px": [
+          0.0,
+          211.3649680651598
+        ],
+        "count": 235,
+        "median_error_px": 0.22422709305870428,
+        "p90_error_px": 0.567475784839126
+      },
+      {
+        "radius_px": [
+          211.3649680651598,
+          422.7299361303196
+        ],
+        "count": 450,
+        "median_error_px": 0.28331262514782674,
+        "p90_error_px": 0.6482620331136862
+      },
+      {
+        "radius_px": [
+          422.7299361303196,
+          634.0949041954793
+        ],
+        "count": 414,
+        "median_error_px": 0.2865000609068863,
+        "p90_error_px": 0.6783180754127586
+      },
+      {
+        "radius_px": [
+          634.0949041954793,
+          845.4598722606391
+        ],
+        "count": 259,
+        "median_error_px": 0.3558713519035385,
+        "p90_error_px": 0.8224986396888553
+      },
+      {
+        "radius_px": [
+          845.4598722606391,
+          1056.824840325799
+        ],
+        "count": 81,
+        "median_error_px": 0.3557529163551223,
+        "p90_error_px": 0.724690608487368
+      }
+    ]
+  },
+  "validation_note": "Held-out intrinsics fixed, board pose estimated on each image. Full-fit K/D use all views and are not the held-out model."
+}
diff --git a/calibration/usb_intrinsic_refits_20261029/alice/model_comparison.json b/calibration/usb_intrinsic_refits_20261029/alice/model_comparison.json
new file mode 100644
index 0000000000000000000000000000000000000000..559024d7a6ec5f7792597861278cf6b5fc4e67d6
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/alice/model_comparison.json
@@ -0,0 +1,321 @@
+{
+  "status": "complete",
+  "opencv_version": "4.11.0",
+  "created_at_utc": "2026-10-29T13:39:11.037323+00:00",
+  "split_protocol": "sorted detected images; index modulo 5 == 0 held out, remaining 80 percent fit; held-out board pose is estimated per image, intrinsic parameters fixed",
+  "outlier_protocol": "same valid images for both models, >=12 detected corners; no residual-based rejection",
+  "raw_images": 100,
+  "detected_views": 100,
+  "train_views": 80,
+  "test_views": 20,
+  "board": {
+    "dictionary": "DICT_5X5_250",
+    "squares": [
+      12,
+      9
+    ],
+    "square_size_m": 0.015,
+    "marker_size_m": 0.01125
+  },
+  "cross_validation": {
+    "brown": {
+      "train_rms_px": 0.6865382324823804,
+      "train": {
+        "views": 80,
+        "corners": 6045,
+        "per_view_rmse_median_px": 0.5048344643614224,
+        "per_view_rmse_p90_px": 0.9389813661846076,
+        "corner_error_median_px": 0.3635608442368628,
+        "corner_error_p90_px": 0.9395078143848077,
+        "radial_bins": [
+          {
+            "radius_px": [
+              0.0,
+              212.3666978988772
+            ],
+            "count": 968,
+            "median_error_px": 0.29230957773057115,
+            "p90_error_px": 0.7642152233445357
+          },
+          {
+            "radius_px": [
+              212.3666978988772,
+              424.7333957977544
+            ],
+            "count": 2139,
+            "median_error_px": 0.35075534449694107,
+            "p90_error_px": 0.9364949528506142
+          },
+          {
+            "radius_px": [
+              424.7333957977544,
+              637.1000936966316
+            ],
+            "count": 1746,
+            "median_error_px": 0.37612637976954477,
+            "p90_error_px": 1.0445704966447609
+          },
+          {
+            "radius_px": [
+              637.1000936966316,
+              849.4667915955088
+            ],
+            "count": 831,
+            "median_error_px": 0.3828768976310446,
+            "p90_error_px": 0.9277177555913331
+          },
+          {
+            "radius_px": [
+              849.4667915955088,
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diff --git a/calibration/usb_intrinsic_refits_20261029/alice/per_image_diagnostics.json b/calibration/usb_intrinsic_refits_20261029/alice/per_image_diagnostics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f490b144d5583cd7baea6727b8c8d153c5c1da3
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/alice/per_image_diagnostics.json
@@ -0,0 +1,1409 @@
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diff --git a/calibration/usb_intrinsic_refits_20261029/alice/projection_checks.json b/calibration/usb_intrinsic_refits_20261029/alice/projection_checks.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d96cd2b82513653798b2737cbe218f9a6e9292b
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/alice/projection_checks.json
@@ -0,0 +1,16 @@
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+    "finite_inverse": true
+  }
+}
diff --git a/calibration/usb_intrinsic_refits_20261029/alice/source_image_manifest.json b/calibration/usb_intrinsic_refits_20261029/alice/source_image_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c8f41805abde5cca3c91d0822624ef0f8edf130
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/alice/source_image_manifest.json
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diff --git a/calibration/usb_intrinsic_refits_20261029/alice/split.json b/calibration/usb_intrinsic_refits_20261029/alice/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..04507d1ab90862a107e724137c38b6b247558a81
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/alice/split.json
@@ -0,0 +1,106 @@
+{
+  "train": [
+    "charuco_0002.png",
+    "charuco_0003.png",
+    "charuco_0004.png",
+    "charuco_0005.png",
+    "charuco_0007.png",
+    "charuco_0008.png",
+    "charuco_0009.png",
+    "charuco_0010.png",
+    "charuco_0012.png",
+    "charuco_0013.png",
+    "charuco_0014.png",
+    "charuco_0015.png",
+    "charuco_0017.png",
+    "charuco_0018.png",
+    "charuco_0019.png",
+    "charuco_0020.png",
+    "charuco_0022.png",
+    "charuco_0023.png",
+    "charuco_0024.png",
+    "charuco_0025.png",
+    "charuco_0027.png",
+    "charuco_0028.png",
+    "charuco_0029.png",
+    "charuco_0030.png",
+    "charuco_0032.png",
+    "charuco_0033.png",
+    "charuco_0034.png",
+    "charuco_0035.png",
+    "charuco_0037.png",
+    "charuco_0038.png",
+    "charuco_0039.png",
+    "charuco_0040.png",
+    "charuco_0042.png",
+    "charuco_0043.png",
+    "charuco_0044.png",
+    "charuco_0045.png",
+    "charuco_0047.png",
+    "charuco_0048.png",
+    "charuco_0049.png",
+    "charuco_0050.png",
+    "charuco_0052.png",
+    "charuco_0053.png",
+    "charuco_0054.png",
+    "charuco_0055.png",
+    "charuco_0057.png",
+    "charuco_0058.png",
+    "charuco_0059.png",
+    "charuco_0060.png",
+    "charuco_0062.png",
+    "charuco_0063.png",
+    "charuco_0064.png",
+    "charuco_0065.png",
+    "charuco_0067.png",
+    "charuco_0068.png",
+    "charuco_0069.png",
+    "charuco_0070.png",
+    "charuco_0072.png",
+    "charuco_0073.png",
+    "charuco_0074.png",
+    "charuco_0075.png",
+    "charuco_0077.png",
+    "charuco_0078.png",
+    "charuco_0079.png",
+    "charuco_0080.png",
+    "charuco_0082.png",
+    "charuco_0083.png",
+    "charuco_0084.png",
+    "charuco_0085.png",
+    "charuco_0087.png",
+    "charuco_0088.png",
+    "charuco_0089.png",
+    "charuco_0090.png",
+    "charuco_0092.png",
+    "charuco_0093.png",
+    "charuco_0094.png",
+    "charuco_0095.png",
+    "charuco_0097.png",
+    "charuco_0098.png",
+    "charuco_0099.png",
+    "charuco_0100.png"
+  ],
+  "test": [
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+    "charuco_0006.png",
+    "charuco_0011.png",
+    "charuco_0016.png",
+    "charuco_0021.png",
+    "charuco_0026.png",
+    "charuco_0031.png",
+    "charuco_0036.png",
+    "charuco_0041.png",
+    "charuco_0046.png",
+    "charuco_0051.png",
+    "charuco_0056.png",
+    "charuco_0061.png",
+    "charuco_0066.png",
+    "charuco_0071.png",
+    "charuco_0076.png",
+    "charuco_0081.png",
+    "charuco_0086.png",
+    "charuco_0091.png",
+    "charuco_0096.png"
+  ]
+}
diff --git a/calibration/usb_intrinsic_refits_20261029/david/intrinsics_brown5_candidate.json b/calibration/usb_intrinsic_refits_20261029/david/intrinsics_brown5_candidate.json
new file mode 100644
index 0000000000000000000000000000000000000000..34413571edb91f37361c073233000e57dde34f1f
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david/intrinsics_brown5_candidate.json
@@ -0,0 +1,103 @@
+{
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+  "extrinsics_refit": false,
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+}
diff --git a/calibration/usb_intrinsic_refits_20261029/david/intrinsics_fisheye4_candidate.json b/calibration/usb_intrinsic_refits_20261029/david/intrinsics_fisheye4_candidate.json
new file mode 100644
index 0000000000000000000000000000000000000000..c285f70db3475f0ae477140ae67991bdfa3f044f
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david/intrinsics_fisheye4_candidate.json
@@ -0,0 +1,101 @@
+{
+  "calibration_id": "david_0810_fisheye_refit_20261029",
+  "camera": "USB_David_ICSpring",
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+  "status": "independent_refit_candidate_not_active_release",
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+}
diff --git a/calibration/usb_intrinsic_refits_20261029/david/model_comparison.json b/calibration/usb_intrinsic_refits_20261029/david/model_comparison.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b6f03fb7ac07cbd44f5cdf8907a076128100361
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david/model_comparison.json
@@ -0,0 +1,321 @@
+{
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diff --git a/calibration/usb_intrinsic_refits_20261029/david/per_image_diagnostics.json b/calibration/usb_intrinsic_refits_20261029/david/per_image_diagnostics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f33c11226299352da8a0d83f821e4b38e53c0525
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david/per_image_diagnostics.json
@@ -0,0 +1,2795 @@
+{
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diff --git a/calibration/usb_intrinsic_refits_20261029/david/projection_checks.json b/calibration/usb_intrinsic_refits_20261029/david/projection_checks.json
new file mode 100644
index 0000000000000000000000000000000000000000..169dc9c16634c6e9c4ac69c32ba0e8d6e7052cc3
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david/projection_checks.json
@@ -0,0 +1,17 @@
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+}
diff --git a/calibration/usb_intrinsic_refits_20261029/david/source_image_manifest.json b/calibration/usb_intrinsic_refits_20261029/david/source_image_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d60df69633f0dbdb9040e24fbc8da63c918f517a
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david/source_image_manifest.json
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diff --git a/calibration/usb_intrinsic_refits_20261029/david/split.json b/calibration/usb_intrinsic_refits_20261029/david/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0d676676082a8ef9f81af085bcb04d27882fa99
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david/split.json
@@ -0,0 +1,205 @@
+{
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+    "charuco_0005.png",
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+    "charuco_0028.png",
+    "charuco_0029.png",
+    "charuco_0030.png",
+    "charuco_0032.png",
+    "charuco_0033.png",
+    "charuco_0034.png",
+    "charuco_0035.png",
+    "charuco_0037.png",
+    "charuco_0038.png",
+    "charuco_0039.png",
+    "charuco_0040.png",
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+    "charuco_0165.png",
+    "charuco_0166.png",
+    "charuco_0168.png",
+    "charuco_0169.png",
+    "charuco_0170.png",
+    "charuco_0171.png",
+    "charuco_0173.png",
+    "charuco_0174.png",
+    "charuco_0175.png",
+    "charuco_0176.png",
+    "charuco_0178.png",
+    "charuco_0179.png",
+    "charuco_0180.png",
+    "charuco_0181.png",
+    "charuco_0183.png",
+    "charuco_0184.png",
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+    "charuco_0188.png",
+    "charuco_0189.png",
+    "charuco_0190.png",
+    "charuco_0191.png",
+    "charuco_0193.png",
+    "charuco_0194.png",
+    "charuco_0195.png",
+    "charuco_0196.png",
+    "charuco_0198.png",
+    "charuco_0199.png",
+    "charuco_0200.png"
+  ],
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+    "charuco_0006.png",
+    "charuco_0011.png",
+    "charuco_0016.png",
+    "charuco_0021.png",
+    "charuco_0026.png",
+    "charuco_0031.png",
+    "charuco_0036.png",
+    "charuco_0041.png",
+    "charuco_0046.png",
+    "charuco_0051.png",
+    "charuco_0056.png",
+    "charuco_0061.png",
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+    "charuco_0092.png",
+    "charuco_0097.png",
+    "charuco_0102.png",
+    "charuco_0107.png",
+    "charuco_0112.png",
+    "charuco_0117.png",
+    "charuco_0122.png",
+    "charuco_0127.png",
+    "charuco_0132.png",
+    "charuco_0137.png",
+    "charuco_0142.png",
+    "charuco_0147.png",
+    "charuco_0152.png",
+    "charuco_0157.png",
+    "charuco_0162.png",
+    "charuco_0167.png",
+    "charuco_0172.png",
+    "charuco_0177.png",
+    "charuco_0182.png",
+    "charuco_0187.png",
+    "charuco_0192.png",
+    "charuco_0197.png"
+  ]
+}
diff --git a/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/model_comparison.json b/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/model_comparison.json
new file mode 100644
index 0000000000000000000000000000000000000000..31709f2a11cee30da43fae52ac294721a2d4b494
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/model_comparison.json
@@ -0,0 +1,321 @@
+{
+  "status": "complete",
+  "opencv_version": "4.11.0",
+  "created_at_utc": "2026-10-29T13:48:49.582164+00:00",
+  "split_protocol": "sorted detected images; index modulo 5 == 0 held out, remaining 80 percent fit; held-out board pose is estimated per image, intrinsic parameters fixed",
+  "outlier_protocol": "same valid images for both models, >=12 detected corners; no residual-based rejection",
+  "raw_images": 200,
+  "detected_views": 193,
+  "train_views": 154,
+  "test_views": 39,
+  "board": {
+    "dictionary": "DICT_5X5_250",
+    "squares": [
+      12,
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diff --git a/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/selection.json b/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/selection.json
new file mode 100644
index 0000000000000000000000000000000000000000..858fcccd895e9e374bd0b525b731394d8c00d086
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/selection.json
@@ -0,0 +1,15 @@
+{
+  "source": "usb_david_0810.yaml outliers_removed",
+  "mapping": "historical numeric IDs mapped to charuco_NNNN.png filename suffix; retained as explicit sensitivity analysis",
+  "excluded_names": [
+    "charuco_0026.png",
+    "charuco_0029.png",
+    "charuco_0040.png",
+    "charuco_0042.png",
+    "charuco_0045.png",
+    "charuco_0046.png",
+    "charuco_0075.png"
+  ],
+  "remaining_detected_views": 193,
+  "note": "Exclusion list predates this refit; no model-specific image selection"
+}
diff --git a/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/split.json b/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/split.json
new file mode 100644
index 0000000000000000000000000000000000000000..31446a8203136cdbbf0ea424bf2730e7ad05e80f
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/david_legacy_exclusions/split.json
@@ -0,0 +1,199 @@
+{
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+    "charuco_0027.png",
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+    "charuco_0113.png",
+    "charuco_0118.png",
+    "charuco_0123.png",
+    "charuco_0128.png",
+    "charuco_0133.png",
+    "charuco_0138.png",
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+    "charuco_0148.png",
+    "charuco_0153.png",
+    "charuco_0158.png",
+    "charuco_0163.png",
+    "charuco_0168.png",
+    "charuco_0173.png",
+    "charuco_0178.png",
+    "charuco_0183.png",
+    "charuco_0188.png",
+    "charuco_0193.png",
+    "charuco_0198.png"
+  ]
+}
diff --git a/calibration/usb_intrinsic_refits_20261029/summary.json b/calibration/usb_intrinsic_refits_20261029/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7edb1b8ad0c62b72a8a5f08198085bcde47eadd
--- /dev/null
+++ b/calibration/usb_intrinsic_refits_20261029/summary.json
@@ -0,0 +1,53 @@
+{
+  "alice": {
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+    "train_views": 80,
+    "heldout_views": 20,
+    "metrics": {
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+  },
+  "david_legacy_exclusions": {
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+    "train_views": 154,
+    "heldout_views": 39,
+    "metrics": {
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+    }
+  }
+}
diff --git a/checksums/EPISODE_FILES_SHA256SUMS b/checksums/EPISODE_FILES_SHA256SUMS
new file mode 100644
index 0000000000000000000000000000000000000000..ba490a34ff12df82e85b53f860d4d4ebd5de4d10
--- /dev/null
+++ b/checksums/EPISODE_FILES_SHA256SUMS
@@ -0,0 +1,18612 @@
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+version https://git-lfs.github.com/spec/v1
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diff --git a/docs/CALIBRATION.md b/docs/CALIBRATION.md
new file mode 100644
index 0000000000000000000000000000000000000000..3dc5840c17589b0a583b464f95eb3781b36953c3
--- /dev/null
+++ b/docs/CALIBRATION.md
@@ -0,0 +1,37 @@
+# Camera calibration
+
+The same brand and model of capture device is represented by three camera-extrinsic configurations. The internal IDs 1403, 2650 and 1203 are calibration indices; they are not three robot types or three capture-device models.
+
+| Calibration ID | Intrinsic provenance | Camera-to-camera extrinsics |
+| --- | --- | --- |
+| rig_1403_0722_0724_v1 | Main/left/right dated 0722; USB Wide dated 0724 | USB→main and PnP left→right; left/right→main unavailable |
+| rig_2650_0730_0804_v1 | Main/left/right and USB Alice dated 0730 | Left/right/USB→main dated 0804; left→right derived |
+| rig_1203_0810_0812_v1 | Main/left/right dated 0812; USB David dated 0810 | Left/right/USB→main dated 0812; left→right derived |
+
+Each profile contains a manifest, four available intrinsic records, and its existing extrinsic records. Across profiles there are 12 intrinsic records and 10 camera-to-camera transforms. Three configurations does not mean there are only three transform matrices.
+
+Intrinsic JSON contains K, D, parameter order, calibrated image width/height, camera role and provenance hashes. Main and auxiliary grayscale cameras use OpenCV rational eight-coefficient models in the order k1,k2,p1,p2,k3,k4,k5,k6. USB cameras use five coefficients k1,k2,p1,p2,k3. The word fisheye in a camera-role name does not select the four-coefficient OpenCV fisheye API. Legacy coefficient labels were ambiguous; the registered vector interpretation follows the existing processing convention, and source hashes are retained.
+
+Extrinsics use column-vector points in optical axes X-right, Y-down, Z-forward, with translation in metres:
+
+```text
+P_target = R @ P_source + t_m
+```
+
+Transform filenames and source_frame/target_frame define direction. Intrinsics use pixel units. Images are exported in their original orientation and dimensions; resizing, cropping or rotating images requires a corresponding update to K and/or the coordinate convention.
+
+## Known limitations
+
+- Profile 1403 has no measured left→main or right→main transform in the registered calibration. Do not substitute a midpoint or parallel-axis assumption as measured calibration.
+- Its main–USB historical median epipolar error is about 17.9 pixels. It is not high-precision geometric ground truth.
+- Left→right transforms for 2650 and 1203 are derived from the other camera transforms and are labelled accordingly.
+- Existing normalized production parameters are preserved. For example, the 1203 USB baseline label in a legacy file was 45.25 mm, while the stored translation vector has norm about 45.50 mm; geometric computation uses the vector, not the label.
+- Calibration availability does not imply image availability. The 200 main-only recordings reference the applicable main-camera intrinsics but do not include auxiliary or real target images.
+- Camera-pair calibration is separate from SDK body-to-optical, tool or robot TCP mappings. These mappings are not fabricated from camera-pair extrinsics.
+
+If hardware was remounted, calibration applicability must be reviewed and versioned rather than inferred solely from a device identifier. Known applicability limits should remain attached to the corresponding profile.
+
+
+## Optional USB intrinsic refits
+
+The 2026-10-29 [Alice and David USB intrinsic refit candidates](USB_INTRINSIC_REFITS_20261029.md) are stored separately from the three historical rig profiles. They do not update episode calibration references or the existing USB-to-main extrinsics.
diff --git a/docs/CHANGELOG.md b/docs/CHANGELOG.md
new file mode 100644
index 0000000000000000000000000000000000000000..541e77209ba96f25e64795d5441b87dde8e38701
--- /dev/null
+++ b/docs/CHANGELOG.md
@@ -0,0 +1,11 @@
+# Packaging changes
+
+Schema 1.0 packages the already validated standardized exports. Video, frame tables, numeric tables and camera parameters are unchanged. Episode metadata was copied, schema_version changed from 0.1-pilot to 1.0, and internal elapsed_s removed. Dataset release name, tag, license and citation remain pending owner confirmation. Internal run logs, process information, QA contact sheets and planned/incomplete catalog files are not included.
+
+## 2026-10-26 release scope update
+
+Removed the 100 cup-picking recordings in batch 0920_pick_cup at the owner's request. The active release contains 1,651 recordings across 17 batches and four tasks. The starter now contains 17 recordings. Catalogs, statistics, documentation and checksums were regenerated; retained payloads and original source data were not modified.
+
+## Archive packaging — 2026-10-31
+
+Episode storage changed to uniform, uncompressed TAR shards. No original episode payload or calibration file changed. Metadata now maps episodes to archive shards; download tooling and instructions use those shards. Historical and 2026-10-29 calibration candidates are retained. Dataset scope remains 1,651 independent episodes.
diff --git a/docs/DATASET_OVERVIEW.md b/docs/DATASET_OVERVIEW.md
new file mode 100644
index 0000000000000000000000000000000000000000..5df8dbee8bbfd3dac83c4f2b741f707e74212389
--- /dev/null
+++ b/docs/DATASET_OVERVIEW.md
@@ -0,0 +1,40 @@
+# Dataset overview
+
+ReFrame-Handheld contains 1,651 independent operation recordings across 17 acquisition batches and four tasks. The same brand and model of capture device is represented by three camera-extrinsic configurations. Configuration identifiers are used to associate each recording with its applicable intrinsics and camera-to-camera transforms.
+
+## Task coverage
+
+| Task | Task ID | Recordings | Recorded minutes | Image streams |
+| --- | --- | ---: | ---: | ---: |
+| Carrot picking and placing | pick_carrot | 696 | 138.77 | 4 |
+| Button pressing | press_button | 500 | 77.50 | 4 |
+| Drawer opening | open_drawer | 255 | 41.69 | 4 |
+| Cup hanging | hang_cup | 200 | 44.78 | 1 |
+
+Recorded duration totals 302.75 minutes, approximately 5.046 hours. It is computed as the sum of each source recording's end-minus-start interval and includes recording margins. It is counted once per independent operation, not once per camera. Duplicate copies and derived visual versions do not increase the count.
+
+## Observation streams
+
+| Camera role | Recordings | Frames | Resolution | Captured channels |
+| --- | ---: | ---: | --- | --- |
+| main_rgb | 1651 | 991,958 | 1280×1280 | RGB |
+| left_fisheye | 1451 | 464,362 | 640×480 | Grayscale |
+| right_fisheye | 1451 | 464,345 | 640×480 | Grayscale |
+| usb_reference | 1451 | 461,189 | 1920×1080 | RGB |
+
+The exported set contains 6,004 MP4 files and 2,381,854 image frames. It retains 9,078,305 SLAM pose samples and 3,631,798 gripper samples at their original sampling rates. Episode payload totals approximately 67.25 GB, excluding repository-level files and the optional starter ZIP.
+
+Main-camera record-time rates vary by batch, approximately 48–60 Hz; left/right cameras are approximately 30 Hz, and USB is typically approximately 29.8 Hz. These rates describe message timing, not independent hardware-frequency or exposure-synchronization measurements. Per-episode timestamps and [machine-readable statistics](../metadata/statistics.json) contain the detailed information.
+
+## What users can study
+
+- Inspect differences between real camera views of handheld operations.
+- Develop and examine geometric reprojection or viewpoint-conversion methods using the applicable calibrated relationships.
+- Compare transformed images with available real reference-camera observations, while accounting for timing and calibration limitations.
+- Explore visual reuse of handheld demonstrations with retained motion and gripper records.
+
+Reference images correspond only to the cameras that actually recorded them. The 200 main-only recordings do not have auxiliary-image ground truth. The resource does not supply arbitrary virtual target views, dense ground-truth depth, robot TCP mappings or policy-training actions. It is not a predefined benchmark leaderboard.
+
+Task outcome, pose review, stream availability and time semantics are distinct metadata fields. The retained recordings are not uniformly labelled successful. No official train/test split is defined; any later split should consider acquisition batches and repeated scenes rather than treating task folders as evaluation splits.
+
+Eight ColorChecker recordings are reserved as an optional separate attachment. They are not part of the operation count and have not yet been exported into this packaged format.
diff --git a/docs/DOWNLOAD.md b/docs/DOWNLOAD.md
new file mode 100644
index 0000000000000000000000000000000000000000..e02000a702644836e04b76bf16b456f72a0b3964
--- /dev/null
+++ b/docs/DOWNLOAD.md
@@ -0,0 +1,12 @@
+# Download archives
+
+All 1,651 episodes are stored in TAR shards under data/<task>/<batch>/part-*.tar.
+An episode is never split between shards. Original MP4, timestamp JSONL, pose and gripper Parquet, and episode.json bytes are preserved. No loose episode files are published alongside the shards.
+
+README, metadata, tools and all versioned calibration files are available separately. metadata/episodes.jsonl maps each episode to its archive_path; metadata/shards.jsonl gives archive sizes, checksums and episode membership.
+
+Use tools/download_dataset.py with --task, --episode-id or --all and a pinned --revision. The tool downloads complete required shards, verifies archive SHA256, extracts only selected episodes and verifies their payloads. A single-episode selection still requires its containing shard, typically up to 1.5 GiB and at most 2 GiB. TARs are retained in the output data/ directory; allow disk space for both downloaded archives and extracted episodes.
+
+The optional downloads/reframe_handheld_starter_17.zip is a self-contained 17-episode sample covering all 17 batches and four tasks. It is a subset of the main dataset, not additional recordings. See QUICKSTART.md for examples.
+
+Manual extraction: download the shared calibration and metadata, then run `tar -xf path/to/part-00000.tar -C your_dataset_root`. The original episodes/<task>/<batch>/<episode>/ paths are restored. checksums/EPISODE_FILES_SHA256SUMS verifies all extracted episode files; checksums/SHA256SUMS verifies repository files and archives.
diff --git a/docs/FORMAT.md b/docs/FORMAT.md
new file mode 100644
index 0000000000000000000000000000000000000000..66e2177f12e6df92992f5cbba9570fae11b53484
--- /dev/null
+++ b/docs/FORMAT.md
@@ -0,0 +1,55 @@
+> Repository storage: all episode files are inside TAR shards under `data/`. The episode paths and file schema below describe the layout after extraction. `metadata/episodes.jsonl` adds `archive_path` and `archive_member_prefix`; camera, timestamp and pose semantics are unchanged.
+
+# Data format
+
+The packaged format uses `schema_version: 1.0`. This identifier describes the file schema; the owner-defined dataset release tag is separate. Packaging preserves the exported payloads and normalizes episode metadata as described in CHANGELOG.md.
+
+## Repository layout and identity
+
+`metadata/episodes.jsonl` is the catalog of completed recordings. Each row contains episode_id, task_id, batch_id, calibration_id, episode_path, capture_profile, record_duration_s and export_status. Paths are relative to the repository root. Four task IDs are used: pick_carrot, press_button, open_drawer and hang_cup.
+
+An episode lives in `episodes/<task_id>/<batch_id>/<episode_id>/`. IDs are inherited from the frozen source inventory and are not renumbered by task. Calibration profiles live under `calibration/<calibration_id>/`.
+
+## Episode metadata
+
+`episode.json` specifies source bag name/hash, task and batch IDs, calibration reference, the bag-record origin, all camera-presence flags, video and timestamp-table paths, pose/gripper descriptors, outcome and review labels, encoding options and per-file hashes.
+
+For each camera, `present=false` and `absence_reason=not_recorded` mean the sensor stream was not captured. Video and frame-table paths are null. A recorded stream whose message cannot be decoded remains present and has an explicit failed row; absence and decode failure are different concepts. No placeholder video is created.
+
+The existing per-episode `file_sha256` covers its video, frame-table and Parquet payloads and message definitions. It does not include episode.json itself or shared calibration files. A public release-wide checksum manifest must cover those additional files when packaging is finalized.
+
+## Video frame tables
+
+Each `<camera>.frames.jsonl` has one row per source image message. Important fields:
+
+| Field | Meaning |
+| --- | --- |
+| source_message_index | Zero-based index within the camera topic in bag-record-time order |
+| video_frame_index | Zero-based decoded MP4 display-order index; null on decode failure |
+| header_timestamp_ns | Original header timestamp as a decimal integer string; null if absent |
+| bag_timestamp_ns | Original recorder timestamp as a decimal integer string |
+| record_time_ns | bag_timestamp_ns minus episode_origin_bag_timestamp_ns, as an integer string |
+| header_seq, frame_id | Original message fields, when present |
+| decode_ok | Whether the image message was decoded and exported |
+| video_pts, video_time_base | Encoded playback timestamp and rational time base |
+| video_pts_adjustment_ns | Quantization/monotonicity adjustment relative to original record-time differences |
+| source_format | Original CompressedImage format string |
+| compressed_message_sha256 | Hash of the original compressed image payload |
+
+JSON nanoseconds are strings to avoid precision loss in JavaScript. Do not cast absolute nanoseconds to a floating-point number before subtracting a reference. Source image hashes do not describe the re-encoded MP4 bytes.
+
+## SLAM poses
+
+`slam_pose.parquet` retains every source pose message. Time and index fields use int64; pose and confidence fields use float64. Columns include source_message_index, bag_timestamp_ns, header_timestamp_ns, record_time_ns, header_seq, frame_id, x, y, z, qx, qy, qz, qw, confidence, finite and quaternion_norm.
+
+Positions use metres. Quaternion storage order is xyzw. Quaternions are not silently normalized, and no robot TCP or action conversion is performed. The parent frame_id is retained from the SDK message; the tracked-body-to-camera relationship is explicitly unverified in the release metadata. Confidence values are retained without interpreting them as calibrated probabilities. Non-finite source floating-point values are retained in Parquet and flagged; missing values are distinct from zeros.
+
+## Gripper samples
+
+`gripper.parquet` retains every source sample. Alongside time/index fields, it contains gripper_raw, gripper_open, device_timestamp_raw_s, finite and was_clipped.
+
+`gripper_open = clip(gripper_raw / 88.0, 0.0, 1.0)`. The endpoints 0 and 88 are project-defined normalization references, not precisely calibrated physical limits. Slightly higher readings, such as approximately 89–90 near full opening, are mapped to 1 by design. Clipping alone is not a quality failure or an exclusion criterion. The result is a convenient normalized opening indicator, not millimetres, force or a control action. Raw readings are retained so users can apply another convention. Do not normalize separately using each episode's observed minimum/maximum. Non-finite raw readings are retained, while their derived opening is null.
+
+## Access and dependencies
+
+MP4 uses H.264/yuv420p. Raw grayscale camera channels are recorded in episode metadata; common video decoders may return three-channel arrays. `tools/read_episode.py` is a simple reference reader. Its sequential frame decoder prioritizes unambiguous indexing over optimized random-access throughput. PyArrow reads numeric tables without ROS. Message definitions are included for interpretation, not to require bag parsing.
diff --git a/docs/QUALITY.md b/docs/QUALITY.md
new file mode 100644
index 0000000000000000000000000000000000000000..454cd3528f7e27957d4413a99e52d4f6395a65ba
--- /dev/null
+++ b/docs/QUALITY.md
@@ -0,0 +1,33 @@
+# Quality and selection
+
+## Release checks
+
+The current release contains 1,651 independent recordings, 6,004 MP4 files and 2,381,854 image frames. All retained source image messages were decoded and exported, with zero image decode failures. All 1,651 episodes passed independent checks of payload hashes, calibration references, source/video indexing, exact integer timestamp relations, numerical row counts and optional record-time matching after the scope update on 2026-10-26.
+
+These checks establish export consistency. They do not establish successful task completion, accurate SLAM, accurate physical synchronization or high-precision calibration.
+
+## Selection scope and pose alerts
+
+The reviewed candidate pool contained 2,415 canonical operation recordings. The current release retains 1,651 and excludes 764: 714 through whole-batch scope/quality decisions and 50 individually flagged poses. Duplicate copies were not independent candidates. The 100 recordings in batch 0920_pick_cup were removed from the release on 2026-10-26 at the owner's request. Cup picking and hanging-cube exclusions are release-scope decisions, not claims that these recordings failed quality checks. Historical full-export reports describe the earlier 1,751-record selection.
+
+The 50 individually excluded records were five from 0805 picking, 34 from 0810 drawer, one from 0814 drawer and ten from 0828 drawer. Existing alerts used a sampled 10 Hz translation step of at least 0.20 m in the relevant audit. The 0825 picking and drawer batches were excluded as whole batches after severe pose failures.
+
+The early 0727/0728 batches were accepted through project review rather than a newly rerun uniform SLAM audit. The later 0923/0925 batches had no identified rejection record during selection, which is not a fresh all-trajectory SLAM accuracy test. Per-episode pose_review_status retains these distinctions.
+
+## Task outcome and missing observations
+
+100 button records carry the label button_did_not_light_user_report. The remaining 1,551 records are not individually outcome-labelled. Do not compute a success rate by treating unknown labels as successful. Drawer sequences can contain closing and regrasping; the export preserves the complete captured record rather than a training-specific crop.
+
+1,451 episodes have all four image streams; 200 have main RGB only. All retain recorded SLAM pose and gripper streams. Missing auxiliary videos are intentional, not decode failures. Left and right image counts differ by 17 and should not be paired by equal frame number alone.
+
+## Encoding checks
+
+Captured JPEG images were re-encoded with libx264, CRF 18, fast preset, yuv420p, no B-frames and maximum GOP 30. No geometric resize, undistortion or crop was applied. Every output video was decoded during export to verify display-frame count, dimensions and PTS. The scope update did not re-encode retained videos.
+
+For the retained selection, 22,881 deterministic source/export frame comparisons have PSNR from 38.21 to 47.67 dB, median 40.51 dB. Median mean absolute pixel error is 2.052 on an 8-bit scale. Sampling used video-frame indices 0,30,100,300,600,1000 when available. These describe compression differences, not a view-synthesis benchmark or an exhaustive perceptual-quality guarantee.
+
+The maximum encoding-PTS adjustment is 500 ns; original timestamps are retained. No capture synchronization accuracy is claimed. The 1403 main–USB calibration limitation is documented in [CALIBRATION.md](CALIBRATION.md).
+
+## Statistical definitions
+
+Recorded duration is summed bag end-minus-start time, including margins. Per-stream average rates are (message_count−1)/(last−first record timestamp), per episode. They are not hardware FPS measurements. Episode payload size includes files inside episode directories, excluding root metadata, tools, QA images and color-chart attachments. See [statistics.json](../metadata/statistics.json) for exact values.
diff --git a/docs/QUICKSTART.md b/docs/QUICKSTART.md
new file mode 100644
index 0000000000000000000000000000000000000000..599f79e1c6d9dc2f909a24d5935e999afe45a00f
--- /dev/null
+++ b/docs/QUICKSTART.md
@@ -0,0 +1,86 @@
+# Quickstart
+
+## Try the starter ZIP
+
+Download [reframe_handheld_starter_17.zip](../downloads/reframe_handheld_starter_17.zip) and extract it. The resulting `reframe_handheld_starter/` directory contains 17 complete recordings, their calibration and the reading tools. You can open the MP4 files without installing Python or ROS.
+
+For Python access, use Python 3.10 or later with a compatible environment:
+
+```bash
+python -m pip install -r reframe_handheld_starter/tools/requirements_reader.txt
+```
+
+Run this example from the directory containing `reframe_handheld_starter`:
+
+```python
+import json
+import sys
+from pathlib import Path
+import pyarrow.parquet as pq
+
+root = Path("reframe_handheld_starter")
+sys.path.insert(0, str(root / "tools"))
+from read_episode import load_episode, frame_records, read_video_frame
+
+with (root / "metadata/episodes.jsonl").open() as catalog:
+    entry = json.loads(next(catalog))
+
+folder, info = load_episode(root, entry["episode_path"])
+image_rgb = read_video_frame(folder, "main_rgb", video_frame_index=0)
+timestamps = frame_records(folder, "main_rgb")
+poses = pq.read_table(folder / "slam_pose.parquet")
+gripper = pq.read_table(folder / "gripper.parquet")
+
+print(entry["episode_id"], image_rgb.shape)
+print(info["calibration_id"])
+print(timestamps[0]["header_timestamp_ns"], timestamps[0]["bag_timestamp_ns"])
+print(poses.num_rows, gripper.num_rows)
+```
+
+The image is an RGB array. `video_frame_index` is decoded video order; `source_message_index` identifies the source message. Missing auxiliary streams are indicated by `present=false` in `info["cameras"]`, not by a blank video or frame index zero.
+
+## Download only what you need
+
+The repository is Ziegelll/reframe-handheld. Version v0.1 will be available after the initial upload and verification finish. Private access requires an authenticated HF account with access to the repository. The script is available in the starter ZIP and in the repository's tools directory.
+
+Download the cup-hanging task:
+
+```bash
+python reframe_handheld_starter/tools/download_dataset.py \
+  --repo-id Ziegelll/reframe-handheld --revision v0.1 \
+  --task hang_cup --output reframe_handheld
+```
+
+Download one episode:
+
+```bash
+python reframe_handheld_starter/tools/download_dataset.py \
+  --repo-id Ziegelll/reframe-handheld --revision v0.1 \
+  --episode-id 0727_pick__pick_0727_20260727_072812 --output reframe_handheld
+```
+
+Download all operation recordings:
+
+```bash
+python reframe_handheld_starter/tools/download_dataset.py \
+  --repo-id Ziegelll/reframe-handheld --revision v0.1 \
+  --all --output reframe_handheld
+```
+
+Task IDs are `pick_carrot`, `press_button`, `open_drawer` and `hang_cup`. All episode data is published in TAR shards. The tool downloads each required complete shard (typically up to 1.5 GiB, never over 2 GiB), verifies its SHA256, extracts only the selected episodes, verifies their payload hashes and includes shared calibration. Selecting one episode still downloads its complete containing shard. Downloaded TARs are retained under data/ for reuse. See metadata/shards.jsonl for sizes and metadata/episodes.jsonl for episode-to-shard mappings.
+
+Selective downloads use the official [Hugging Face download API](https://huggingface.co/docs/huggingface_hub/guides/download). The local selection logic and reading examples have been checked; remote HF download validation is pending completion of the initial upload.
+
+## Timestamps and optional matching
+
+Original header timestamps and recorder timestamps are retained. JSON nanoseconds are decimal integer strings. Keep them as integers when doing time arithmetic. Record-time matching is optional and does not establish exposure synchronization.
+
+```python
+from read_episode import nearest_by_record_time
+
+main = next(r for r in timestamps if r["video_frame_index"] == 0)
+left = nearest_by_record_time(folder, "left_fisheye", int(main["record_time_ns"]))
+print(left)  # May be None: absent stream, outside coverage or beyond the time limit.
+```
+
+The returned time difference is between record timestamps. It is not a physical synchronization error. See [TIME_ALIGNMENT.md](TIME_ALIGNMENT.md), [FORMAT.md](FORMAT.md), [CALIBRATION.md](CALIBRATION.md) and [QUALITY.md](QUALITY.md) for the complete definitions.
diff --git a/docs/TIME_ALIGNMENT.md b/docs/TIME_ALIGNMENT.md
new file mode 100644
index 0000000000000000000000000000000000000000..443aa924b794f705c3fb453b422337261fee6901
--- /dev/null
+++ b/docs/TIME_ALIGNMENT.md
@@ -0,0 +1,31 @@
+# Time semantics
+
+The release preserves timestamps and offers optional record-time matching. It does not certify exposure synchronization or force all streams onto one frame grid.
+
+## Three distinct time quantities
+
+1. Header time is the original timestamp written by the acquisition software. It may use a device clock or a host clock, and meanings can vary across batches.
+2. Bag record time is the recorder's timestamp. A common per-episode origin is subtracted to obtain record_time_ns for all streams.
+3. Video PTS controls playback within a single MP4. It starts at that stream's first valid image, is quantized to microseconds, and is mapped back to source time by the frame table.
+
+For each valid frame, the current encoder satisfies:
+
+```text
+video_pts * 1000
+  = record_time_ns - stream_start_record_time_ns
+    + video_pts_adjustment_ns
+```
+
+The formula assumes the stored time base of 1/1,000,000 seconds. Original nanoseconds are unchanged. If equal timestamps or quantization would produce non-increasing PTS, the encoder increases playback PTS by one microsecond and records the difference. The complete exported set has a maximum absolute adjustment of 500 ns. This number measures encoding time quantization, not capture-time accuracy.
+
+## Optional matching
+
+`nearest_by_record_time` finds the nearest valid auxiliary video frame using bag record time, with a configurable maximum difference (20 ms by default). It returns source/video indices and a signed record-time difference, or null for a missing camera, outside coverage or an excessive difference.
+
+It does not establish a device-clock model, jointly pair left/right exposure groups, interpolate motion, or enforce causality. A selected auxiliary frame can occur after the main-frame record time. A future causal application should use a past-only policy. Missing images must not be represented by frame index zero.
+
+Record-time differences and header-minus-record-time offsets cannot be relabelled as exposure-time errors. No fixed latency corrections were fitted during this export. All metadata states capture_time_validated=false. Users needing physical synchronization should establish timestamp semantics and independently validate a clock model using suitable evidence.
+
+## Playback and gaps
+
+Starting several independent MP4 players together does not synchronize them: each file starts at its own first image. The frame table preserves each stream's offset from the common origin. Per-stream image counts can differ; in particular, left/right frame indices are not guaranteed to form exposure pairs. Source timestamps remain the basis for gap analysis. Any future composite preview is a derived visualization and should provide its selection rule separately.
diff --git a/docs/USB_INTRINSIC_REFITS_20261029.md b/docs/USB_INTRINSIC_REFITS_20261029.md
new file mode 100644
index 0000000000000000000000000000000000000000..891f9320d8d9d4e9d2248b1230ac494b1949f135
--- /dev/null
+++ b/docs/USB_INTRINSIC_REFITS_20261029.md
@@ -0,0 +1,5 @@
+# USB intrinsic refit candidates, 2026-10-29
+
+This update adds separately versioned Brown5 and OpenCV fisheye4 intrinsic candidates for the Alice and David USB reference cameras. The established files under `calibration/rig_*/` remain the historical defaults referenced by episodes. This add-on does not change episode calibration IDs and does not claim the existing camera-to-camera extrinsics have been jointly refitted for the alternate intrinsics.
+
+See the [candidate files, comparison and validation details](../calibration/usb_intrinsic_refits_20261029/README.md). The alternate intrinsics are for evaluation and reproducibility; users should select a model explicitly.
diff --git a/downloads/manifest.json b/downloads/manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f18bdc16f7365d2ddd428e7c6cb846166172643
--- /dev/null
+++ b/downloads/manifest.json
@@ -0,0 +1,13 @@
+{
+  "starter": {
+    "file": "downloads/reframe_handheld_starter_17.zip",
+    "episodes": 17,
+    "bytes": 788397349,
+    "sha256": "5120947bfdee882df2d30e74d2ed38201ee784b7d938b07b546d80368e96206a",
+    "archive_root": "reframe_handheld_starter",
+    "compression": "ZIP_STORED"
+  },
+  "full_dataset_episodes": 1651,
+  "main_storage": "uniform TAR archive shards",
+  "shard_index": "metadata/shards.jsonl"
+}
diff --git a/downloads/reframe_handheld_starter_17.zip b/downloads/reframe_handheld_starter_17.zip
new file mode 100644
index 0000000000000000000000000000000000000000..6f1f2e62374ca7eb103b85f2913915677f8e079b
--- /dev/null
+++ b/downloads/reframe_handheld_starter_17.zip
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5120947bfdee882df2d30e74d2ed38201ee784b7d938b07b546d80368e96206a
+size 788397349
diff --git a/metadata/episodes.jsonl b/metadata/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9aa9dcb33a599d16e54e701ed5355bf06052a7eb
--- /dev/null
+++ b/metadata/episodes.jsonl
@@ -0,0 +1,1651 @@
+{"episode_id": "0923_hang_cup__hang_cup_092320260923_110236", "task_id": "hang_cup", "batch_id": "0923_hang_cup", "calibration_id": "rig_1203_0810_0812_v1", "episode_path": "episodes/hang_cup/0923_hang_cup/0923_hang_cup__hang_cup_092320260923_110236", "capture_profile": "main_only", "record_duration_s": 12.873255525, "export_status": "complete", "archive_path": "data/hang_cup/0923_hang_cup/part-00000.tar", "archive_member_prefix": "episodes/hang_cup/0923_hang_cup/0923_hang_cup__hang_cup_092320260923_110236/"}
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index 0000000000000000000000000000000000000000..4538790335614e0be8af46045d202a08befc1c89
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diff --git a/metadata/shards.jsonl b/metadata/shards.jsonl
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+{"path": "data/press_button/0828_button/part-00000.tar", "task_id": "press_button", "batch_id": "0828_button", "episodes": ["0828_button__push_button_082820260828_093051", "0828_button__push_button_082820260828_093114", "0828_button__push_button_082820260828_093122", "0828_button__push_button_082820260828_093129", "0828_button__push_button_082820260828_093137", "0828_button__push_button_082820260828_093209", "0828_button__push_button_082820260828_093217", "0828_button__push_button_082820260828_093225", "0828_button__push_button_082820260828_093236", "0828_button__push_button_082820260828_093245", "0828_button__push_button_082820260828_093256", "0828_button__push_button_082820260828_093305", "0828_button__push_button_082820260828_093315", "0828_button__push_button_082820260828_093324", "0828_button__push_button_082820260828_093333", "0828_button__push_button_082820260828_093342", "0828_button__push_button_082820260828_093351", "0828_button__push_button_082820260828_093359", "0828_button__push_button_082820260828_093407", "0828_button__push_button_082820260828_093414", "0828_button__push_button_082820260828_093420", "0828_button__push_button_082820260828_093428", "0828_button__push_button_082820260828_093434", "0828_button__push_button_082820260828_093441", "0828_button__push_button_082820260828_093449", "0828_button__push_button_082820260828_093456", "0828_button__push_button_082820260828_093504", "0828_button__push_button_082820260828_093512", "0828_button__push_button_082820260828_093520", "0828_button__push_button_082820260828_093527", "0828_button__push_button_082820260828_093536", "0828_button__push_button_082820260828_093543", "0828_button__push_button_082820260828_093553", "0828_button__push_button_082820260828_093639", "0828_button__push_button_082820260828_093645", "0828_button__push_button_082820260828_093701", "0828_button__push_button_082820260828_093709", "0828_button__push_button_082820260828_093715", "0828_button__push_button_082820260828_093722", "0828_button__push_button_082820260828_093729", "0828_button__push_button_082820260828_093737", "0828_button__push_button_082820260828_093744", "0828_button__push_button_082820260828_093751", "0828_button__push_button_082820260828_093758", "0828_button__push_button_082820260828_093828", "0828_button__push_button_082820260828_093834", "0828_button__push_button_082820260828_093840", "0828_button__push_button_082820260828_093847", "0828_button__push_button_082820260828_093854", "0828_button__push_button_082820260828_093902", "0828_button__push_button_082820260828_093910", "0828_button__push_button_082820260828_093917", "0828_button__push_button_082820260828_093928", "0828_button__push_button_082820260828_093936", "0828_button__push_button_082820260828_093943", "0828_button__push_button_082820260828_094117", "0828_button__push_button_082820260828_094131", "0828_button__push_button_082820260828_094140", "0828_button__push_button_082820260828_094156", "0828_button__push_button_082820260828_094207", "0828_button__push_button_082820260828_094217", "0828_button__push_button_082820260828_094228", "0828_button__push_button_082820260828_094239", "0828_button__push_button_082820260828_094249", "0828_button__push_button_082820260828_094258", "0828_button__push_button_082820260828_094308", "0828_button__push_button_082820260828_094317", "0828_button__push_button_082820260828_094326", "0828_button__push_button_082820260828_094336", "0828_button__push_button_082820260828_094345", "0828_button__push_button_082820260828_094355", "0828_button__push_button_082820260828_094404", "0828_button__push_button_082820260828_094413", "0828_button__push_button_082820260828_094422", "0828_button__push_button_082820260828_094431", "0828_button__push_button_082820260828_094531", "0828_button__push_button_082820260828_094636", "0828_button__push_button_082820260828_094648", "0828_button__push_button_082820260828_094659", "0828_button__push_button_082820260828_094707", "0828_button__push_button_082820260828_094717", "0828_button__push_button_082820260828_094732", "0828_button__push_button_082820260828_094741"], "calibration_ids": ["rig_1203_0810_0812_v1"], "estimated_bytes": 1608509440, "bytes": 1608509440, "sha256": "b9f16e584613f9e548ad5ace1e26a82b7e62ab4c93bfa6694a77b5acb32e984c", "files_verified": 996}
+{"path": "data/press_button/0828_button/part-00001.tar", "task_id": "press_button", "batch_id": "0828_button", "episodes": ["0828_button__push_button_082820260828_094751", "0828_button__push_button_082820260828_094801", "0828_button__push_button_082820260828_094810", "0828_button__push_button_082820260828_094818", "0828_button__push_button_082820260828_094828", "0828_button__push_button_082820260828_094837", "0828_button__push_button_082820260828_094846", "0828_button__push_button_082820260828_094855", "0828_button__push_button_082820260828_094905", "0828_button__push_button_082820260828_094915", "0828_button__push_button_082820260828_094924", "0828_button__push_button_082820260828_095011", "0828_button__push_button_082820260828_095026", "0828_button__push_button_082820260828_095040", "0828_button__push_button_082820260828_095054", "0828_button__push_button_082820260828_095105", "0828_button__push_button_082820260828_095119"], "calibration_ids": ["rig_1203_0810_0812_v1"], "estimated_bytes": 349286400, "bytes": 349286400, "sha256": "e153551d8036a272ca68677ee62c0c6dc7bd47bafce289a603c89eeaa68d0cdc", "files_verified": 204}
diff --git a/metadata/statistics.json b/metadata/statistics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e07f8beae60c29702eb58e15474311e90f9fee9c
--- /dev/null
+++ b/metadata/statistics.json
@@ -0,0 +1,175 @@
+{
+  "checked_at_utc": "2026-10-26T10:27:37.799526+00:00",
+  "episodes": 1651,
+  "batches": 17,
+  "task_statistics": {
+    "hang_cup": {
+      "episodes": 200,
+      "record_duration_s": 2686.9690560589993,
+      "episode_bytes": 4054591470,
+      "camera_frames": {
+        "main_rgb": 161311
+      }
+    },
+    "open_drawer": {
+      "episodes": 255,
+      "record_duration_s": 2501.244062482999,
+      "episode_bytes": 9011053992,
+      "camera_frames": {
+        "main_rgb": 138163,
+        "left_fisheye": 75042,
+        "right_fisheye": 75040,
+        "usb_reference": 74455
+      }
+    },
+    "pick_carrot": {
+      "episodes": 696,
+      "record_duration_s": 8326.290299436996,
+      "episode_bytes": 34491031456,
+      "camera_frames": {
+        "main_rgb": 445484,
+        "left_fisheye": 249806,
+        "right_fisheye": 249797,
+        "usb_reference": 248157
+      }
+    },
+    "press_button": {
+      "episodes": 500,
+      "record_duration_s": 4650.292643908001,
+      "episode_bytes": 19688485455,
+      "camera_frames": {
+        "main_rgb": 247000,
+        "left_fisheye": 139514,
+        "right_fisheye": 139508,
+        "usb_reference": 138577
+      }
+    }
+  },
+  "capture_profiles": {
+    "main_only": 200,
+    "four_camera": 1451
+  },
+  "calibration_configurations": {
+    "rig_1203_0810_0812_v1": 491,
+    "rig_2650_0730_0804_v1": 361,
+    "rig_1403_0722_0724_v1": 799
+  },
+  "camera_streams": {
+    "main_rgb": {
+      "episodes": 1651,
+      "source_messages": 991958,
+      "exported_frames": 991958,
+      "decode_failures": 0,
+      "resolutions": {
+        "1280x1280": 1651
+      },
+      "source_channels": {
+        "3": 1651
+      },
+      "episode_average_fps_record_time": {
+        "min": 48.18044684545269,
+        "p10": 49.129349329063565,
+        "median": 59.974658302650454,
+        "p90": 60.05233372123318,
+        "max": 60.27480572303102
+      }
+    },
+    "left_fisheye": {
+      "episodes": 1451,
+      "source_messages": 464362,
+      "exported_frames": 464362,
+      "decode_failures": 0,
+      "resolutions": {
+        "640x480": 1451
+      },
+      "source_channels": {
+        "1": 1451
+      },
+      "episode_average_fps_record_time": {
+        "min": 29.787564783058563,
+        "p10": 29.98919254689472,
+        "median": 30.00157539181521,
+        "p90": 30.013809946287655,
+        "max": 30.13812317370139
+      }
+    },
+    "right_fisheye": {
+      "episodes": 1451,
+      "source_messages": 464345,
+      "exported_frames": 464345,
+      "decode_failures": 0,
+      "resolutions": {
+        "640x480": 1451
+      },
+      "source_channels": {
+        "1": 1451
+      },
+      "episode_average_fps_record_time": {
+        "min": 29.787326056200143,
+        "p10": 29.989255281639903,
+        "median": 30.00152972563118,
+        "p90": 30.01387792800882,
+        "max": 30.13813927578081
+      }
+    },
+    "usb_reference": {
+      "episodes": 1451,
+      "source_messages": 461189,
+      "exported_frames": 461189,
+      "decode_failures": 0,
+      "resolutions": {
+        "1920x1080": 1451
+      },
+      "source_channels": {
+        "3": 1451
+      },
+      "episode_average_fps_record_time": {
+        "min": 25.688534467789836,
+        "p10": 29.78934669675913,
+        "median": 29.799840042677637,
+        "p90": 29.8101841499763,
+        "max": 30.05836504580436
+      }
+    }
+  },
+  "camera_video_count": 6004,
+  "total_image_frames": 2381854,
+  "slam_pose_samples": 9078305,
+  "gripper_samples": 3631798,
+  "record_duration_s": 18164.796061886995,
+  "episode_payload_bytes": 67245162373,
+  "task_outcome_labels": {
+    "not_individually_labeled": 1551,
+    "button_did_not_light_user_report": 100
+  },
+  "pose_review_status_labels": {
+    "user_accepted_no_full_new_pose_audit": 400,
+    "existing_audit_or_batch_exclusion": 1251
+  },
+  "maximum_encoding_pts_adjustment_ns": 500,
+  "encoding_sample_psnr_db": {
+    "n": 22881,
+    "min": 38.20594771443394,
+    "median": 40.51114172063285,
+    "max": 47.670829063841026
+  },
+  "encoding_sample_mae_8bit": {
+    "n": 22881,
+    "min": 0.7515104413032532,
+    "median": 2.051668405532837,
+    "max": 2.4256367683410645
+  },
+  "independent_validation_status": "pass",
+  "independent_validation_episodes": 1651,
+  "validation_failures": [],
+  "partial_episodes": 0,
+  "exporter_hashes": {
+    "c22099139043fc31e5ae06b1ebeb8a8d92657b8385c6eacb80d7589e636cf4f6": 1650,
+    "88ed6e094ea3be66aaea0f3759fae08d3a9944fbf0d4f100b2691fc837c9dcbf": 1
+  },
+  "duration_definition": "sum of bag end-start per independent episode; includes recording margins",
+  "payload_definition": "episode-directory files only; excludes root-level QA, tools, metadata and 8 color-chart recordings",
+  "frame_rate_definition": "(message_count-1)/(last-first bag record timestamp), per episode, not hardware nominal FPS or exposure synchronization",
+  "packaging_schema_version": "1.0",
+  "release_scope_updated_at_utc": "2026-10-26T10:27:37.836048+00:00"
+}
diff --git a/metadata/tasks.json b/metadata/tasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d89bcd3806f16685c9cc8ea92cbdb549aba555a
--- /dev/null
+++ b/metadata/tasks.json
@@ -0,0 +1,6 @@
+{
+  "抓萝卜": "pick_carrot",
+  "按按钮": "press_button",
+  "开抽屉": "open_drawer",
+  "挂杯": "hang_cup"
+}
diff --git a/tools/download_dataset.py b/tools/download_dataset.py
new file mode 100644
index 0000000000000000000000000000000000000000..1338fb6a7b35b96f1e71ee47a2225dca49c2707e
--- /dev/null
+++ b/tools/download_dataset.py
@@ -0,0 +1,130 @@
+"""Download verified archive shards and extract the selected complete episodes."""
+import argparse
+import hashlib
+import json
+import os
+from pathlib import Path, PurePosixPath
+import shutil
+import tarfile
+
+TASKS = ['pick_carrot', 'press_button', 'open_drawer', 'hang_cup']
+
+def safe_relative(value):
+    p = PurePosixPath(value)
+    if p.is_absolute() or '..' in p.parts or '\\' in value or not p.parts:
+        raise ValueError('Unsafe relative path')
+    return p
+
+def digest(path):
+    h = hashlib.sha256()
+    with Path(path).open('rb') as f:
+        for block in iter(lambda: f.read(8 * 1024**2), b''):
+            h.update(block)
+    return h.hexdigest()
+
+def select(rows, task=None, episode_id=None):
+    chosen = [r for r in rows if (task is None or r['task_id'] == task)
+              and (episode_id is None or r['episode_id'] == episode_id)]
+    if not chosen:
+        raise ValueError('No matching episode or task')
+    for r in chosen:
+        safe_relative(r['episode_path']); safe_relative(r['archive_path'])
+    return chosen
+
+def extract_selected(archive, root, rows):
+    """Extract regular files under exact catalog prefixes; reject links and traversal."""
+    root = Path(root).resolve()
+    prefixes = {r['episode_path'] for r in rows}
+    allowed = set()
+    with tarfile.open(archive, 'r:') as tar:
+        for member in tar:
+            rel = safe_relative(member.name)
+            if not member.isfile():
+                raise ValueError('Unexpected non-file archive member')
+            if str(rel.parent) not in prefixes:
+                continue
+            name = str(rel)
+            if name in allowed:
+                raise ValueError('Duplicate archive member')
+            allowed.add(name)
+            dest = root / name
+            dest.parent.mkdir(parents=True, exist_ok=True)
+            if dest.is_symlink() or not dest.resolve().is_relative_to(root):
+                raise ValueError('Unsafe extraction destination')
+            partial = dest.with_name(dest.name + '.partial')
+            if partial.is_symlink():
+                raise ValueError('Unsafe partial destination')
+            with tar.extractfile(member) as src, partial.open('wb') as dst:
+                shutil.copyfileobj(src, dst, 8 * 1024**2)
+            os.replace(partial, dest)
+    for r in rows:
+        folder = root / r['episode_path']
+        episode = json.loads((folder / 'episode.json').read_text())
+        if episode['episode_id'] != r['episode_id']:
+            raise ValueError('Episode identity mismatch')
+        expected = {r['episode_path'] + '/episode.json'}
+        for name, expected_sha in episode['file_sha256'].items():
+            safe_relative(name)
+            path = folder / name
+            if not path.resolve().is_relative_to(folder.resolve()):
+                raise ValueError('Unsafe episode payload path')
+            expected.add(r['episode_path'] + '/' + name)
+            if digest(path) != expected_sha:
+                raise ValueError('Extracted payload SHA256 mismatch: ' + str(path))
+        if not expected.issubset(allowed):
+            raise ValueError('Incomplete episode archive members')
+
+def main():
+    ap = argparse.ArgumentParser(description=__doc__)
+    ap.add_argument('--repo-id', default='Ziegelll/reframe-handheld')
+    ap.add_argument('--revision', required=True)
+    group = ap.add_mutually_exclusive_group(required=True)
+    group.add_argument('--task', choices=TASKS)
+    group.add_argument('--episode-id')
+    group.add_argument('--all', action='store_true')
+    ap.add_argument('--output', type=Path, default=Path('reframe_handheld'))
+    ap.add_argument('--dry-run', action='store_true')
+    ap.add_argument('--local-catalog', type=Path)
+    ap.add_argument('--local-shards', type=Path)
+    a = ap.parse_args()
+    if bool(a.local_catalog) != bool(a.local_shards):
+        ap.error('--local-catalog and --local-shards must be supplied together')
+    if a.local_catalog and not a.dry_run:
+        ap.error('Local catalogs are supported only for dry-run')
+    if a.local_catalog:
+        catalog, shards_path = a.local_catalog, a.local_shards
+        revision = a.revision
+    else:
+        from huggingface_hub import HfApi, hf_hub_download
+        revision = HfApi().repo_info(a.repo_id, repo_type='dataset', revision=a.revision).sha
+        catalog = Path(hf_hub_download(a.repo_id, 'metadata/episodes.jsonl', repo_type='dataset', revision=revision))
+        shards_path = Path(hf_hub_download(a.repo_id, 'metadata/shards.jsonl', repo_type='dataset', revision=revision))
+    rows = [json.loads(x) for x in catalog.read_text().splitlines() if x.strip()]
+    shards = {r['path']: r for r in map(json.loads, shards_path.read_text().splitlines())}
+    chosen = select(rows, a.task, a.episode_id)
+    packages = sorted({r['archive_path'] for r in chosen})
+    print(json.dumps({'repo_id': a.repo_id, 'revision': revision, 'episodes': len(chosen),
+                      'packages': len(packages), 'download_bytes': sum(shards[n]['bytes'] for n in packages),
+                      'download_unit': 'complete archive shard', 'extract_unit': 'selected episodes',
+                      'output': str(a.output), 'dry_run': a.dry_run}, indent=2))
+    if a.dry_run:
+        return
+    from huggingface_hub import hf_hub_download, snapshot_download
+    a.output.mkdir(parents=True, exist_ok=True)
+    snapshot_download(a.repo_id, repo_type='dataset', revision=revision, local_dir=a.output,
+                      allow_patterns=['README.md', 'README_zh.md', 'LICENSE', 'CITATION.cff',
+                                      'metadata/**', 'docs/**', 'tools/**', 'calibration/**', 'checksums/**'])
+    for name in packages:
+        safe_relative(name)
+        archive = Path(hf_hub_download(a.repo_id, name, repo_type='dataset', revision=revision, local_dir=a.output))
+        if archive.stat().st_size != shards[name]['bytes'] or digest(archive) != shards[name]['sha256']:
+            raise ValueError('Archive checksum mismatch: ' + name)
+        extract_selected(archive, a.output, [r for r in chosen if r['archive_path'] == name])
+    for r in chosen:
+        e = json.loads((a.output / r['episode_path'] / 'episode.json').read_text())
+        if not (a.output / e['calibration_path'] / 'manifest.json').is_file():
+            raise ValueError('Missing calibration manifest')
+    print('Download, archive verification, selected episode extraction and payload verification complete.')
+
+if __name__ == '__main__':
+    main()
diff --git a/tools/read_episode.py b/tools/read_episode.py
new file mode 100644
index 0000000000000000000000000000000000000000..b672e5c488376d55f032b2ada8db3fa7661e612e
--- /dev/null
+++ b/tools/read_episode.py
@@ -0,0 +1,46 @@
+"""Read an exported frame; optional nearest matching uses bag record time only."""
+import argparse
+import bisect
+import json
+from pathlib import Path
+
+def load_episode(root,episode_path):
+    root=Path(root);path=root/episode_path
+    data=json.loads((path/'episode.json').read_text())
+    data['calibration']=json.loads((root/data['calibration_path']/'manifest.json').read_text())
+    return path,data
+
+def frame_records(episode_path,camera):
+    path=Path(episode_path)/(camera+'.frames.jsonl')
+    if not path.exists():return []
+    return [json.loads(x) for x in path.read_text().splitlines()]
+
+def nearest_by_record_time(episode_path,camera,record_time_ns,max_delta_ms=20):
+    rows=[r for r in frame_records(episode_path,camera) if r['decode_ok']]
+    if not rows:return None
+    times=[int(r['record_time_ns']) for r in rows]
+    if not times[0]<=record_time_ns<=times[-1]:return None
+    i=bisect.bisect_left(times,record_time_ns)
+    candidates=range(max(0,i-1),min(len(rows),i+1))
+    best=min(candidates,key=lambda j:(abs(times[j]-record_time_ns),j))
+    delta=times[best]-record_time_ns
+    if abs(delta)>max_delta_ms*1_000_000:return None
+    return {'source_message_index':rows[best]['source_message_index'],
+            'video_frame_index':rows[best]['video_frame_index'],'record_delta_ns':delta,
+            'pairing_basis':'bag_record_time','capture_sync_validated':False}
+
+def read_video_frame(episode_path,camera,video_frame_index):
+    import av
+    if video_frame_index<0:raise IndexError(video_frame_index)
+    path=Path(episode_path)/(camera+'.mp4')
+    with av.open(str(path)) as container:
+        for i,frame in enumerate(container.decode(video=0)):
+            if i==video_frame_index:return frame.to_ndarray(format='rgb24')
+    raise IndexError(video_frame_index)
+
+if __name__=='__main__':
+    ap=argparse.ArgumentParser();ap.add_argument('episode',type=Path);ap.add_argument('--main-video-frame-index',type=int,default=0);a=ap.parse_args()
+    rows=[r for r in frame_records(a.episode,'main_rgb') if r['decode_ok']]
+    anchor=next(r for r in rows if r['video_frame_index']==a.main_video_frame_index)
+    print(json.dumps({'main':anchor,'optional_pairs':{c:nearest_by_record_time(a.episode,c,int(anchor['record_time_ns']))
+       for c in ['left_fisheye','right_fisheye','usb_reference']}},indent=2))
diff --git a/tools/requirements_reader.txt b/tools/requirements_reader.txt
new file mode 100644
index 0000000000000000000000000000000000000000..744779f964b7fa60b0724129e9199e473883e6e6
--- /dev/null
+++ b/tools/requirements_reader.txt
@@ -0,0 +1,3 @@
+av==16.0.1
+pyarrow==17.0.0
+huggingface_hub