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GT-111
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intern_a1_v3_eef

Tasks:
Robotics
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Languages:
English
Size:
n>1T
ArXiv:
Tags:
Synthetic
real-world
hybrid
bimanual
single-arm
manipulation
License:
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Publish LeRobot projection (9468 files)

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  1. README.md +103 -22
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README.md CHANGED
@@ -12,38 +12,119 @@ tags:
12
  - bimanual
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  - single-arm
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  - manipulation
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- - lerobot
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  - v3
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  - end-effector-pose
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  size_categories:
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  - n>1T
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  pretty_name: "InternData-A1 (LeRobot v3 EEF)"
 
21
  ---
22
 
23
  # InternData-A1 v3 EEF (LeRobot v3)
24
 
25
- InternData-A1 converted to LeRobot v3, 30 Hz. Four child datasets
26
- (`franka/`, `genie1/`, `lift2/`, `split_aloha/`), each a self-contained
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- LeRobot dataset with its own `meta/`, `data/`, and `videos/`.
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-
29
- ## Observation and action convention
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-
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- - `observation.state`: 16D bimanual end-effector pose — per arm: position
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- xyz (metres) + quaternion in scalar-first WXYZ order + gripper, left arm
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- first then right arm.
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- - `action`: 16D absolute bimanual end-effector pose command with the same
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- per-arm layout. Row `t` stores the pose that the *next* observation row
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- `t+1` attains (next-observation-absolute alignment).
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- - `transition_action_valid` is `true` exactly on rows whose action is a valid
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- next-observation pose; terminal placeholder rows repeat the current
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- observation state and are masked `false`.
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- - `action_mask`, `observation.state_mask`, and `observation.image_mask` mark
41
- padded or dropped channels.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  - Gripper channels are raw position, higher = more open.
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- - Cameras: `observation.images.head` (overhead), plus wrist cameras
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- `observation.images.wrist_left` / `observation.images.wrist_right` where the
45
- embodiment provides them.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
46
 
47
  ## Citation
48
 
49
- Please cite the original InternData-A1 release when using this dataset.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
12
  - bimanual
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  - single-arm
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  - manipulation
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+ - LeRobot
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  - v3
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  - end-effector-pose
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  size_categories:
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  - n>1T
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  pretty_name: "InternData-A1 (LeRobot v3 EEF)"
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+ viewer: false
22
  ---
23
 
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  # InternData-A1 v3 EEF (LeRobot v3)
25
 
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+ This is a **LeRobot v3** format conversion of [InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1), reorganized into a canonical **bimanual 16D end-effector (EE) pose** representation for large-scale VLA pre-training. 30 Hz, four embodiments, ~487.7K episodes and ~377.7M frames.
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+
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+ ## Original Dataset
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+
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+ **InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy**
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+
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+ > InternRobotics. *InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy*. arXiv:2511.16651, 2025.
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+
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+ - **Original Source**: https://huggingface.co/datasets/InternRobotics/InternData-A1
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+ - **Project Website**: https://internrobotics.github.io/interndata-a1.github.io/
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+ - **GitHub**: https://github.com/InternRobotics
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+
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+ InternData-A1 is a hybrid synthetic-real manipulation dataset containing over 630K trajectories and 7,433 hours across 4 embodiments, 18 skills, 70 tasks, and 227 scenes, covering rigid, articulated, deformable, and fluid-object manipulation. This conversion covers the simulation pre-training portion across four embodiments: Franka Emika Panda (`franka/`), Genie-1 (`genie1/`), ARX Lift-2 (`lift2/`), and AgileX Split Aloha (`split_aloha/`).
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+
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+ ## License
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+
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+ This dataset is released under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/), consistent with the original InternData-A1 license.
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+
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+ ## Conversion Details
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+
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+ ### What we changed
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+
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+ 1. **Canonical Bimanual EE Pose Representation**: Per-embodiment proprioception is unified into a single **16D bimanual EE pose vector** — per arm: position xyz (metres) + quaternion in scalar-first **WXYZ** order + gripper, left arm first then right arm. Single-arm embodiments (franka) leave the right-arm dimensions structurally masked.
49
+
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+ 2. **Next-Observation-Absolute Actions**: Actions are stored as **16D absolute bimanual EE pose commands** with the same per-arm layout. Row `t` stores the pose that the *next* observation row `t+1` attains (next-observation-absolute alignment).
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+
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+ 3. **LeRobot v3 Format**: Converted to the LeRobot v3 dataset layout with sharded video (MP4, AV1 codec) and Parquet-based frame data at 30 Hz.
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+
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+ ### What we preserved
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+
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+ - All camera views: `observation.images.head` (overhead), plus wrist cameras `observation.images.wrist_left` / `observation.images.wrist_right` where the embodiment provides them (franka provides `head` + `wrist_left` only); 640-wide RGB
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+ - Episode structure and task labels
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+ - Frame-level timestamps
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+ - `action_mask`, `observation.state_mask`, and `observation.image_mask` columns marking padded or dropped channels
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+
61
+ ### Observation and action convention
62
+
63
+ - `observation.state`: 16D bimanual end-effector pose — per arm `[x, y, z, qw, qx, qy, qz, gripper]`, left arm (dims 0-7) then right arm (dims 8-15).
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+ - `action`: 16D absolute bimanual end-effector pose command with the same layout; row `t` is the pose attained by observation row `t+1`.
65
+ - `transition_action_valid` is `true` exactly on rows whose action is a valid next-observation pose; terminal placeholder rows repeat the current observation state and are masked `false`.
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+ - `action_mask`, `observation.state_mask`, and `observation.image_mask` mark padded or dropped channels.
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  - Gripper channels are raw position, higher = more open.
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+
69
+ ### Layout
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+
71
+ Each embodiment is a self-contained LeRobot v3 dataset in its own subdirectory with its own `meta/`, `data/`, and `videos/`:
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+
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+ ```
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+ intern_a1_v3_eef/
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+ ├── franka/ # Franka Emika Panda (single-arm; right arm masked)
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+ │ ├── data/chunk-*/file-*.parquet
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+ │ ├── videos/observation.images.{head,wrist_left}/chunk-*/file-*.mp4
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+ │ └── meta/
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+ │ ├── info.json
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+ │ ├── tasks.parquet
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+ │ ├── episodes/chunk-*/file-*.parquet
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+ │ └── stats.json
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+ ├── genie1/ # Genie-1
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+ ├── lift2/ # ARX Lift-2
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+ ├── split_aloha/ # AgileX Split Aloha
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+ │ └── ... (same per-child layout)
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+ └── norm_stats.json # Corpus-level post-pipeline stats (schema v3)
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+ ```
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+
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+ ### Statistics
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+
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+ | Child | Embodiment | Episodes | Frames | Cameras |
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+ |---|---|---|---|---|
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+ | `franka/` | Franka Emika Panda | 96,930 | 66,441,068 | head, wrist_left |
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+ | `genie1/` | Genie-1 | 14,064 | 7,713,365 | head, wrist_left, wrist_right |
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+ | `lift2/` | ARX Lift-2 | 205,877 | 153,366,384 | head, wrist_left, wrist_right |
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+ | `split_aloha/` | AgileX Split Aloha | 170,877 | 150,163,119 | head, wrist_left, wrist_right |
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+ | **Total** | | **487,748** | **377,683,936** | |
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+
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+ | Metric | Value |
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+ |---|---|
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+ | FPS | 30 |
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+ | State Dim | 16 |
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+ | Action Dim | 16 |
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+
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+ ## Usage
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+
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+ ```python
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+ from lerobot.datasets import LeRobotDataset
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+
111
+ # Each embodiment is an independent LeRobot dataset under a subdirectory
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+ dataset = LeRobotDataset("GT-111/intern_a1_v3_eef", root=".../franka")
113
+ ```
114
 
115
  ## Citation
116
 
117
+ Please cite the original InternData-A1 release when using this dataset:
118
+
119
+ ```bibtex
120
+ @article{interndataa12025,
121
+ title={InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy},
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+ author={InternRobotics},
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+ journal={arXiv preprint arXiv:2511.16651},
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+ year={2025}
125
+ }
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+ ```
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+
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+ ## Version History
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+
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+ - **v3.0** (current): LeRobot v3 conversion with canonical 16D bimanual EE pose layout and next-observation-absolute actions
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