Search is not available for this dataset
head_camera_intrinsics list | hand_camera_intrinsics list | head_camera_to_robot_extrinsics list | hand_camera_to_robot_extrinsics list | states.joint.position list | states.gripper.position float32 0 0.08 ⌀ | states.gripper.pose list | states.ee_to_armbase_pose list | states.ee_to_robot_pose list | states.tcp_to_armbase_pose list | states.tcp_to_robot_pose list | states.robot_to_env_pose list | actions.joint.position list | actions.gripper.position float32 0 0.08 ⌀ | actions.gripper.openness float32 0 1 ⌀ | actions.gripper.pose list | actions.ee_to_armbase_pose list | actions.ee_to_robot_pose list | actions.tcp_to_armbase_pose list | actions.tcp_to_robot_pose list | master_actions.joint.position list | master_actions.gripper.position float32 0 0.08 ⌀ | master_actions.gripper.openness float32 0 1 ⌀ | master_actions.gripper.pose list | timestamp float32 0 27 ⌀ | frame_index int64 0 809 ⌀ | episode_index int64 0 108 ⌀ | index int64 0 49.9k ⌀ | task_index int64 0 25 ⌀ |
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End of preview. Expand in Data Studio
InternData-A1 dataset taken from 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.
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