yixuan-tan/InternData-A1-LeRobot-v3.0-by-embodiment

---
license: cc-by-nc-sa-4.0
task_categories:
- robotics
language:
- en
tags:
- Embodied-AI
- Robotic manipulation
size_categories:
- n>1T
pretty_name: InternData-A1 (LeRobot v3.0; by embodiment)
---

InternData-A1 dataset taken from [InternRobotics/InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1),
with the tarballs extracted and directory structure "transposed" so that the top-level subdirectories are the four embodiments.

## Two franka dirs

For the franka embodiment, there are two different feature spaces, so we split it into the `franka-1` and `franka-2` directories.
The feature spaces differ in image shape and gripper value range.

## Minor fixes

Some subsets such as `basic_tasks/split_aloha/make_a_sandwich_language` had extra nested directories in their original tarballs
that did not line up with the other subsets. We have realigned their directory structures with the rest.

## Dirty episodes

The subset `lift2/basic_tasks/fold_towels` contains episodes where we encountered errors loading the corresponding video.

To document this so that those episodes may be skipped during training, we added a `meta/removed_episodes.json` file to its directory.

许可证：CC BY-NC-SA 4.0
任务类别：机器人学
语言：英语
标签：具身智能（Embodied-AI）、机器人操作（Robotic manipulation）
规模类别：样本总量超过1TB
友好名称：InternData-A1（LeRobot v3.0；面向具身智能）

InternData-A1数据集源自[InternRobotics/InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1)，我们对其tar压缩包进行了解压，并调整了目录结构：将顶层子目录重构为四类具身智能体对应的目录。

## 两类弗兰克机器人目录
针对弗兰克机器人（Franka）具身智能体，存在两种不同的特征空间，因此我们将其拆分为`franka-1`与`franka-2`两个目录。两种特征空间的差异体现在图像分辨率与夹持器数值范围上。

## 小幅修正
部分子集（如`basic_tasks/split_aloha/make_a_sandwich_language`）在原始tar压缩包中存在额外的嵌套目录，与其他子集的目录结构不一致。我们已将其目录结构与其余子集对齐统一。

## 异常片段
子集`lift2/basic_tasks/fold_towels`包含了对应视频加载失败的片段。为了记录这些异常片段以便在训练时跳过，我们在其目录下新增了`meta/removed_episodes.json`文件。