GT-111/intern_a1_v3_eef

InternData-A1 v3 EEF (LeRobot v3)

This is a LeRobot v3 format conversion of 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, 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.

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

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:

@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

Canonical action contract v2

All child datasets use eef_absolute_next_observation_wxyz_v2. State/action rows are absolute metres + WXYZ quaternion + gripper openness; a valid action at t is the next persisted observation at t+1. Native timestamps and FPS are retained. Terminal, broken, demonstration, or dimension-masked targets contribute to no action, future, progress, or normalization loss. See each meta/action_contract.json and the root collection_manifest.json.