diff --git a/README.md b/README.md index 01b838ac4a844151f8692c6d615f94acec7c6308..b5c4d26177d686f04ed6f42ba17b375f03582e6f 100644 --- a/README.md +++ b/README.md @@ -12,38 +12,119 @@ tags: - bimanual - single-arm - manipulation -- lerobot +- LeRobot - v3 - end-effector-pose size_categories: - n>1T pretty_name: "InternData-A1 (LeRobot v3 EEF)" +viewer: false --- # InternData-A1 v3 EEF (LeRobot v3) -InternData-A1 converted to LeRobot v3, 30 Hz. Four child datasets -(`franka/`, `genie1/`, `lift2/`, `split_aloha/`), each a self-contained -LeRobot dataset with its own `meta/`, `data/`, and `videos/`. - -## Observation and action convention - -- `observation.state`: 16D bimanual end-effector pose — per arm: position - xyz (metres) + quaternion in scalar-first WXYZ order + gripper, left arm - first then right arm. -- `action`: 16D absolute bimanual end-effector pose command with the same - per-arm layout. Row `t` stores the pose that the *next* observation row - `t+1` attains (next-observation-absolute alignment). -- `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`. -- `action_mask`, `observation.state_mask`, and `observation.image_mask` mark - padded or dropped channels. +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. + +## Original Dataset + +**InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy** + +> InternRobotics. *InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy*. arXiv:2511.16651, 2025. + +- **Original Source**: https://huggingface.co/datasets/InternRobotics/InternData-A1 +- **Project Website**: https://internrobotics.github.io/interndata-a1.github.io/ +- **GitHub**: https://github.com/InternRobotics + +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/`). + +## License + +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. + +## Conversion Details + +### What we changed + +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. + +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). + +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. + +### What we preserved + +- 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 +- Episode structure and task labels +- Frame-level timestamps +- `action_mask`, `observation.state_mask`, and `observation.image_mask` columns marking padded or dropped channels + +### Observation and action convention + +- `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). +- `action`: 16D absolute bimanual end-effector pose command with the same layout; row `t` is the pose attained by observation row `t+1`. +- `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`. +- `action_mask`, `observation.state_mask`, and `observation.image_mask` mark padded or dropped channels. - Gripper channels are raw position, higher = more open. -- Cameras: `observation.images.head` (overhead), plus wrist cameras - `observation.images.wrist_left` / `observation.images.wrist_right` where the - embodiment provides them. + +### Layout + +Each embodiment is a self-contained LeRobot v3 dataset in its own subdirectory with its own `meta/`, `data/`, and `videos/`: + +``` +intern_a1_v3_eef/ +├── franka/ # Franka Emika Panda (single-arm; right arm masked) +│ ├── data/chunk-*/file-*.parquet +│ ├── videos/observation.images.{head,wrist_left}/chunk-*/file-*.mp4 +│ └── meta/ +│ ├── info.json +│ ├── tasks.parquet +│ ├── episodes/chunk-*/file-*.parquet +│ └── stats.json +├── genie1/ # Genie-1 +├── lift2/ # ARX Lift-2 +├── split_aloha/ # AgileX Split Aloha +│ └── ... (same per-child layout) +└── norm_stats.json # Corpus-level post-pipeline stats (schema v3) +``` + +### Statistics + +| Child | Embodiment | Episodes | Frames | Cameras | +|---|---|---|---|---| +| `franka/` | Franka Emika Panda | 96,930 | 66,441,068 | head, wrist_left | +| `genie1/` | Genie-1 | 14,064 | 7,713,365 | head, wrist_left, wrist_right | +| `lift2/` | ARX Lift-2 | 205,877 | 153,366,384 | head, wrist_left, wrist_right | +| `split_aloha/` | AgileX Split Aloha | 170,877 | 150,163,119 | head, wrist_left, wrist_right | +| **Total** | | **487,748** | **377,683,936** | | + +| Metric | Value | +|---|---| +| FPS | 30 | +| State Dim | 16 | +| Action Dim | 16 | + +## Usage + +```python +from lerobot.datasets import LeRobotDataset + +# Each embodiment is an independent LeRobot dataset under a subdirectory +dataset = LeRobotDataset("GT-111/intern_a1_v3_eef", root=".../franka") +``` ## Citation -Please cite the original InternData-A1 release when using this dataset. +Please cite the original InternData-A1 release when using this dataset: + +```bibtex +@article{interndataa12025, + title={InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy}, + author={InternRobotics}, + journal={arXiv preprint arXiv:2511.16651}, + year={2025} +} +``` + +## Version History + +- **v3.0** (current): LeRobot v3 conversion with canonical 16D bimanual EE pose layout and next-observation-absolute actions diff --git a/franka/meta/episodes/chunk-000/file-000.parquet b/franka/meta/episodes/chunk-000/file-000.parquet index 73f611ed96be87d22ad2265e0c560a596272dd71..a777955c371fb1022dabe3300bb0fedcfe1bffe2 100644 --- a/franka/meta/episodes/chunk-000/file-000.parquet +++ b/franka/meta/episodes/chunk-000/file-000.parquet @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:a80bf17dc53f4a4857744a5a5fa3f7574e580652a7b31bd98285e70763904973 -size 6822204 +oid sha256:a465094b075a58a837cb28eac6168d02de71ff5dd0e1e6035ad28ed5a3adcbc7 +size 5885047 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