Datasets:

BeingBeyond
/

H-Tac_Sample

The column schema and field meanings match the original InternDataTac release. See each subset's meta/features.json and meta/dataset_info.json for machine-readable schema details.

Schema Consistency

Both InternDataTac subsets share the same 40-column per-frame schema:

curated__genie1_mano_tactile
curated__lift2_mano_tactile

Common frame fields are documented in the top-level README.md. This file lists InternDataTac-specific fields and metadata.

Loading Notes

Both InternDataTac subsets share one per-frame schema.
Read meta/features.json before selecting parquet columns.
Use meta/tasks.jsonl to resolve task_index.
Use meta/episodes.parquet for episode length, task text, robot_type, parquet path, and video path.
mask.right_arm and mask.left_arm mark inactive sides.
Tactile and gripper values of -1 on masked sides are missing values, not valid zero readings.
Resolve video.top_view relative to the subset root.

InternDataTac-Specific Per-Frame Fields

InternDataTac adds robot-gripper, arm-mask, and MANO tactile fields on top of the common schema.

field	dtype / shape	meaning
`state.right_gripper`	`float32[1]`	Right gripper openness/state, declared range `[0, 1]`. Masked inactive values are stored as `-1`.
`state.left_gripper`	`float32[1]`	Left gripper openness/state, declared range `[0, 1]`. Masked inactive values are stored as `-1`.
`action.right_gripper`	`float32[1]`	Right gripper action target, declared range `[0, 1]`.
`action.left_gripper`	`float32[1]`	Left gripper action target, declared range `[0, 1]`.
`mask.right_arm`	`bool` scalar	Right-arm inactive-side flag. `true` means this side is inactive/masked for that episode.
`mask.left_arm`	`bool` scalar	Left-arm inactive-side flag. `true` means this side is inactive/masked for that episode.
`tactile.right_mano_tactile`	`float32[351]`	Right-side MANO compact tactile pressure vector.
`tactile.left_mano_tactile`	`float32[351]`	Left-side MANO compact tactile pressure vector.
`tactile_pred.right_mano_tactile`	`float32[351]`	Right-side predicted or processed MANO tactile vector.
`tactile_pred.left_mano_tactile`	`float32[351]`	Left-side predicted or processed MANO tactile vector.

Tactile Representation

The tactile representation is MANO compact 351 pressure. Contact pressure is projected onto a shared MANO hand surface and stored as a 351-D compact vector.

Normalization is recorded in each subset's meta/dataset_info.json and meta/episode_records/*.json:

subset	normalization method	scale
`curated__genie1_mano_tactile`	`dataset_robot_max`	`5914047.0`
`curated__lift2_mano_tactile`	`dataset_robot_max`	`15187778.0`

Valid nonnegative tactile values are divided by the scale. Masked inactive-arm values remain -1; do not interpret -1 as a physical zero-contact reading.

Arm Masks And Missing Side Policy

InternDataTac episodes are usually single-arm tasks even though both left and right fields are present. The inactive side is preserved in the schema but filled with masked values.

Use both the frame-level mask fields and the episode record:

Frame columns: mask.right_arm, mask.left_arm
Episode metadata: meta/episodes.parquet columns right_arm_mask, left_arm_mask
Per-episode metadata record: meta/episode_records/episode_*.json under mask, pressure, and derived_eef_pose

In the episode record, active_arm names the active side. A side with missing_policy: static_arm_masked has no pressure cache and is filled with -1.

Episode Metadata

Each subset's meta/episodes.parquet has the same InternDataTac episode-level columns:

field	meaning
`episode_index`	Episode id within the release subset.
`session_name`, `session_dir`	Release-local episode/session identifiers.
`length`	Number of frames in the episode.
`task_index`, `task`	Task id and task instruction.
`robot_type`	Robot family, such as `genie1` or `lift2`.
`fps`	Nominal frame rate, `30.0`.
`video.top_view`	Relative top-view video path when available.
`parquet_path`	Relative path to the episode parquet file.
`right_arm_mask`, `left_arm_mask`	Episode-level inactive-arm mask flags.

Video Availability

curated__genie1_mano_tactile and curated__lift2_mano_tactile include top-view MP4 files for every episode in this release.

Release Files

Each Intern subset contains:

data/episode_*.parquet: frame-level data.
meta/features.json: 40-field per-frame schema.
meta/dataset_info.json: dataset counts, modality mapping, coordinate systems, and tactile normalization.
meta/episodes.parquet: episode-level index.
meta/tasks.jsonl: task mapping.
meta/episode_records/*.json: detailed per-episode metadata records.
videos/video.top_view/episode_*.mp4: top-view MP4 videos for each episode.