diff --git a/README.md b/README.md
index f9a18a5..83c3612 100644
--- a/README.md
+++ b/README.md
@@ -1,15 +1,21 @@
-# 🦊 Fog-RT-X
+# 🦊 Robo-DM 
 
-🦊 Fog-RT-X: An Efficient and Scalable Data Collection and Management Framework For Robotics Learning. Support [Open-X-Embodiment](https://robotics-transformer-x.github.io/), 🤗[HuggingFace](https://huggingface.co/). 
+🦊 Robo-DM : An Efficient and Scalable Data Collection and Management Framework For Robotics Learning. Support [Open-X-Embodiment](https://robotics-transformer-x.github.io/), 🤗[HuggingFace](https://huggingface.co/). 
 
-🦊 Fog-RT-X considers both speed 🚀 and memory efficiency 📈 with active metadata and lazily-loaded trajectory data. It supports flexible and distributed dataset partitioning. It provides native support to cloud storage. 
+🦊 Robo-DM (Former Name: fog_x)  considers both speed 🚀 and memory efficiency 📈 with active metadata and lazily-loaded trajectory data. It supports flexible and distributed dataset partitioning. It provides native support to cloud storage. 
 
 [Design Doc](https://docs.google.com/document/d/1woLQVLWsySGjFuz8aCsaLoc74dXQgIccnWRemjlNDws/edit#heading=h.irrfcedesnvr) | [Dataset Visualization](https://keplerc.github.io/openxvisualizer/)
 
+## Note to ICRA Reviewers
+We are actively developing the framework. See commit `a35a6` for the version we developed.  
+
+
 ## Install 
 
 ```bash
-pip install fog_x
+git clone https://github.com/BerkeleyAutomation/fog_x.git
+cd fog_x
+pip install -e .
 ```
 
 ## Usage
@@ -17,55 +23,30 @@ pip install fog_x
 ```py
 import fog_x
 
-# 🦊 Dataset Creation 
-# from distributed dataset storage 
-dataset = fog_x.Dataset(
-    name="demo_ds",
-    path="~/test_dataset", # can be AWS S3, Google Bucket! 
-)  
+path = "/tmp/output.vla"
 
 # 🦊 Data collection: 
 # create a new trajectory
-episode = dataset.new_episode()
-# collect step data for the episode
-episode.add(feature = "arm_view", value = "image1.jpg")
+traj = fog_x.Trajectory(
+    path = path
+)
+
+traj.add(feature = "arm_view", value = "image1.jpg")
 # Automatically time-aligns and saves the trajectory
-episode.close()
+traj.close()
 
-# 🦊 Data Loading:
-# load from existing RT-X/Open-X datasets
-dataset.load_rtx_episodes(
-    name="berkeley_autolab_ur5",
-    additional_metadata={"collector": "User 2"}
+# load it 
+fog_x.Trajectory(
+    path = path
 )
-
-# 🦊 Data Management and Analytics: 
-# Compute and memory efficient filter, map, aggregate, groupby
-episode_info = dataset.get_episode_info()
-desired_episodes = episode_info.filter(episode_info["collector"] == "User 2")
-
-# 🦊 Data Sharing and Usage:
-# Export and share the dataset as standard Open-X-Embodiment format
-# it also supports hugging face, and more!
-dataset.export(desired_episodes, format="rtx")
-# Load with pytorch dataloader
-torch.utils.data.DataLoader(dataset.as_pytorch_dataset(desired_episodes))
 ```
 
-## Design
-🦊 Fog-RT-X recognizes most post-processing, analytics and management involves the trajectory-level data, such as tags, while actual trajectory steps are rarely read, written and transformed. Acessing and modifying trajectory data is very expensive and hard. 
-
-As a result, 🦊 Fog-RT-X proposes 
-* a user-friendly metadata table via Pandas Datframe for speed and freedom
-* a LazyFrame from Polars for the trajectory dataset that only loads and transform the data if needed 
-* parquet as storage format for distributed storage and columnar support compared to tensorflow records 
-* Easy and automatic RT-X/Open-X dataset export and pytorch dataloading 
-
-
-## More Coming Soon!
-Currently we see a more than 60\% space saving on some existing RT-X datasets. This can be even more by re-paritioning the dataset. Our next steps can be found in the [planning doc](./design_doc/planning_doc.md). Feedback welcome through issues or PR to planning doc!
+## Examples
 
-We also note we are at a beta-testing phase. We make our best effort to be backward-compatible but interfaces may be unstable. 
+* [Data Collection and Loading](./examples/data_collection_and_load.py)
+* [Convert From Open_X](./examples/openx_loader.py)
+* [Convert From H5](./examples/h5_loader.py)
+* [Running Benchmarks](./benchmarks/openx.py)
 
 ## Development