InternData-A1 v3 EEF repaired (next-observation-absolute, unified keys, LeRobot-standard projection)

README.md

@@ -17,115 +17,109 @@ tags:
 - end-effector-pose
 size_categories:
 - n>1T
-pretty_name: "InternData-A1 (LeRobot v3 EE)"
+pretty_name: "InternData-A1 (LeRobot v3 EEF)"
 viewer: false
 ---
 
-# InternData-A1 (LeRobot v3 EE)
+# InternData-A1 v3 EEF (LeRobot v3)
 
-This is a **LeRobot v3** format conversion of the [InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1) dataset, reorganized into a canonical **16D end-effector (EE) pose** representation for multi-dataset robot learning.
+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**
 
-> Yang Tian, Yuyin Yang, Yiman Xie, Zetao Cai, Xu Shi, Ning Gao, Hangxu Liu, Xuekun Jiang, Zherui Qiu, Feng Yuan, Yaping Li, Ping Wang, Junhao Cai, Jia Zeng, Hao Dong, Jiangmiao Pang. *InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy*. arXiv:2511.16651, 2025.
+> 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
-- **arXiv**: https://arxiv.org/abs/2511.16651
+- **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 (Franka, Genie1, Lift2, Split-ALOHA), 18 skills, 70 tasks, and 227 scenes, covering rigid, articulated, deformable, and fluid-object manipulation.
+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.
 
-**Important**: By downloading this dataset, you agree to the InternData-A1 Community License Agreement. The original dataset is gated — please also request access at the [original Hugging Face repo](https://huggingface.co/datasets/InternRobotics/InternData-A1).
-
 ## Conversion Details
 
 ### What we changed
 
-1. **Multi-Embodiment Canonicalization**: The original dataset spans 4 robot embodiments (Franka, Genie1, Lift2, Split-ALOHA) with varying proprioception layouts. We unified all embodiments into a common **16D bimanual EE pose** representation:
-   - `[left_x, left_y, left_z, left_qw, left_qx, left_qy, left_qz, left_gripper, right_x, right_y, right_z, right_qw, right_qx, right_qy, right_qz, right_gripper]`
-   - For single-arm embodiments (Franka, Genie1), the right-arm half is filled with learned padding values.
-   - Gripper values normalized to `[0, 1]`.
-
-2. **Forward Kinematics**: Where raw data stores joint positions, we compute forward kinematics to derive EE poses (position + quaternion).
-
-3. **Canonical Camera Keys**: Unified camera naming across embodiments:
-   - `observation.images.cam_high` — head/top camera
-   - `observation.images.cam_left_wrist` — left wrist camera
-   - `observation.images.cam_right_wrist` — right wrist camera (when available)
+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.
 
-4. **Image Masks**: Per-frame boolean masks indicate which camera views are valid (some embodiments lack certain cameras).
+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).
 
-5. **LeRobot v3 Format**: Converted to the latest LeRobot v3 dataset layout with sharded video storage (MP4) and Parquet-based frame data.
+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 available camera views per embodiment
-- Original episode structure and task labels
+- 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
-- Embodiment metadata (`openpi_embodiment` in `info.json`)
+- `action_mask`, `observation.state_mask`, and `observation.image_mask` columns marking padded or dropped channels
 
-### Child Datasets
+### Observation and action convention
 
-| Embodiment | Episodes | Frames | Type |
-|---|---|---|---|
-| franka | 96,930 | 66,441,068 | Single-arm (sim+real) |
-| genie1 | 14,064 | 7,713,365 | Single-arm (sim) |
-| lift2 | 205,877 | 153,366,384 | Bimanual (sim) |
-| split_aloha | 170,877 | 150,163,119 | Bimanual (sim) |
+- `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.
 
-### Dataset Structure
+### Layout
+
+Each embodiment is a self-contained LeRobot v3 dataset in its own subdirectory with its own `meta/`, `data/`, and `videos/`:
 
 ```
-lerobot_v3_ee/
-├── franka/
+intern_a1_v3_eef/
+├── franka/                   # Franka Emika Panda (single-arm; right arm masked)
 │   ├── data/chunk-*/file-*.parquet
-│   ├── videos/observation.images.cam_high/chunk-*/file-*.mp4
-│   └── meta/{info.json, tasks.json, episodes.jsonl, stats.json}
-├── genie1/
-│   └── ...
-├── lift2/
-│   └── ...
-├── split_aloha/
-│   └── ...
-└── build_summary.json
+│   ├── 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)
 ```
 
-## Usage
+### Statistics
 
-```python
-from lerobot.datasets import LeRobotDataset
+| 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** | |
 
-# Load a specific embodiment
-dataset = LeRobotDataset(
-    repo_id="GT-111/intern-a1-v3-ee",
-    root="franka",  # or genie1, lift2, split_aloha
-)
-```
+| Metric | Value |
+|---|---|
+| FPS | 30 |
+| State Dim | 16 |
+| Action Dim | 16 |
+
+## Usage
 
-For training with the LWM-VLA / OpenPI framework (automatically discovers all child datasets):
 ```python
-from openpi.training.config import MultiDatasetPretrainDatasetSpec
+from lerobot.datasets import LeRobotDataset
 
-MultiDatasetPretrainDatasetSpec(
-    repo_id="GT-111/intern-a1-v3-ee",
-    dataset_type="intern_a1",
-    weight=0.2,
-)
+# Each embodiment is an independent LeRobot dataset under a subdirectory
+dataset = LeRobotDataset("GT-111/intern_a1_v3_eef", root=".../franka")
 ```
 
 ## Citation
 
-If you use this dataset, please cite both the original InternData-A1 paper and this conversion:
+Please cite the original InternData-A1 release when using this dataset:
 
 ```bibtex
-@article{tian2025interndata,
+@article{interndataa12025,
   title={InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy},
-  author={Tian, Yang and Yang, Yuyin and Xie, Yiman and Cai, Zetao and Shi, Xu and Gao, Ning and Liu, Hangxu and Jiang, Xuekun and Qiu, Zherui and Yuan, Feng and Li, Yaping and Wang, Ping and Cai, Junhao and Zeng, Jia and Dong, Hao and Pang, Jiangmiao},
+  author={InternRobotics},
   journal={arXiv preprint arXiv:2511.16651},
   year={2025}
 }
@@ -133,4 +127,4 @@ If you use this dataset, please cite both the original InternData-A1 paper and t
 
 ## Version History
 
-- **v3.0** (current): LeRobot v3 conversion with canonical 16D EE pose layout across 4 embodiments
+- **v3.0** (current): LeRobot v3 conversion with canonical 16D bimanual EE pose layout and next-observation-absolute actions

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