#### NOTE This is a **Hugging Face dataset**. For large datasets, ensure `huggingface_hub>=1.1.3` to avoid rate limits. Learn more in the Hugging Face integration docs. ![Hugging Face](https://img.shields.io/badge/%F0%9F%A4%97%20Hugging%20Face-Dataset-yellow) This is a [FiftyOne](https://github.com/voxel51/fiftyone) dataset with 369 samples. # Installation If you haven’t already, install FiftyOne: ```bash pip install -U fiftyone ``` # Usage ```python import fiftyone as fo from fiftyone.utils.huggingface import load_from_hub # Load the dataset # Note: other available arguments include 'max_samples', etc dataset = load_from_hub("Voxel51/interndata-a1-close-the-laptop-369ep") # Launch the App session = fo.launch_app(dataset) ``` # Dataset Card for InternData-A1 close-the-laptop ![InternData-A1 close-the-laptop preview](https://huggingface.co/datasets/Voxel51/interndata-a1-close-the-laptop-369ep/resolve/main/interndata-a1-close-the-laptop.gif) ## Dataset Details ### Dataset Description This is a 369-episode subset of the `franka-1/articulation_tasks/close_the_laptop` task directory from [griffinlabs/InternData-A1-LeRobot-v3.0-by-embodiment](https://huggingface.co/datasets/griffinlabs/InternData-A1-LeRobot-v3.0-by-embodiment), itself a re-packaging of [InternRobotics/InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1) with tarballs extracted and the directory structure reorganized so the top-level directories are per-embodiment. The source repo is not a single LeRobot dataset: it contains 1,488 independent LeRobot v3.0 datasets, one per `//[/]` directory, each with its own `meta/info.json`, `data/`, and `videos/`. This subset covers one of those 1,488 task directories: `franka-1` (a Franka arm using the `franka-1` feature/gripper convention, one of two Franka variants in the source repo), `articulation_tasks/close_the_laptop`. Every episode in the “shard-0” set (episodes whose data shard and every video-stream shard are the first file, `file_index == 0`, of `chunk-000`) was imported — 369 of the task’s 578 total episodes, the largest complete subset obtainable without downloading every shard. - **Curated by:** Griffin Labs (source re-packaging); this subset selected and exported by a FiftyOne user via the `fiftyone-lerobot-subset-to-hub` skill - **Language(s):** English (task language instructions) - **License:** cc-by-nc-sa-4.0 (inherited from the source repo) ### Dataset Sources - **Repository:** https://huggingface.co/datasets/griffinlabs/InternData-A1-LeRobot-v3.0-by-embodiment - **Original dataset:** https://huggingface.co/datasets/InternRobotics/InternData-A1 ## Uses ### Direct Use Exploring, filtering, and visualizing Franka “close the laptop” articulation episodes in the FiftyOne App; prototyping multimodal (video + tabular state/action) data loaders; small-scale policy debugging or overfitting tests on a single task. ### Out-of-Scope Use Not suitable for training a policy expecting the task’s full episode coverage — this is 369 of 578 total episodes available in the source repo for this task. Not suitable for commercial use without checking the CC BY-NC-SA 4.0 terms. Not representative of any embodiment or task other than a single Franka arm performing this one articulation task. ## Dataset Structure Media type: `multimodal`. One sample = one episode. Each sample’s `media_reference` points to the episode’s rows in this self-contained, re-exported LeRobot v3.0 Parquet + MP4 export (re-indexed to `episode_index` `0..368`). ### Fields | Field | Type | Meaning | |-----------------------------------|------------------------|-----------------------------------------------------------------------| | `id` | ObjectIdField | FiftyOne sample id | | `media_reference` | MediaReferenceField | Pointer to the episode’s data/video rows in the LeRobot export | | `tags` | ListField(StringField) | FiftyOne tags (empty by default) | | `metadata` | EmbeddedDocumentField | FiftyOne media metadata (unset) | | `created_at` / `last_modified_at` | DateTimeField | FiftyOne bookkeeping | | `episode_index` | IntField | Episode index within this exported dataset | | `task` | StringField | Task instruction for the episode (“Close the laptop” for all samples) | | `tasks` | ListField(StringField) | All task instruction strings associated with the episode | | `length` | IntField | Number of frames in the episode | | `duration` | FloatField | Episode duration in seconds (`length / fps`) | | `robot_type` | StringField | `Franka` for all samples | | `fps` | FloatField | Recording frame rate (30.0) | `task` is a `StringField`, not a `Classification`, because in LeRobot v3 the task instruction is a free-text string looked up per-frame via `task_index`, not a fixed label set; all 369 episodes in this subset share the single task instruction “Close the laptop”. ### Per-frame streams (not sample-level fields) Per-frame video and tabular data live in the referenced Parquet/MP4 shards and appear in the FiftyOne App’s Streams / State & Action tabs, not as top-level sample fields: | Feature | dtype | shape | |-------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------|-----------------| | `images.rgb.head` | video | `[360, 640, 3]` | | `images.rgb.hand` | video | `[480, 640, 3]` | | `head_camera_intrinsics` | float32 | `[4]` | | `hand_camera_intrinsics` | float32 | `[4]` | | `head_camera_to_robot_extrinsics` | float32 | `[7]` | | `hand_camera_to_robot_extrinsics` | float32 | `[7]` | | `states.joint.position`, `actions.joint.position`, `master_actions.joint.position` | float32 | `[7]` | | `states.gripper.position`, `actions.gripper.position` | float32 | `[1]` | | `actions.gripper.openness`, `master_actions.gripper.position`, `master_actions.gripper.openness` | float32 | `[1]` | | `states.gripper.pose`, `actions.gripper.pose`, `master_actions.gripper.pose` | float32 | `[6]` | | `states.ee_to_armbase_pose`, `states.ee_to_robot_pose`, `states.tcp_to_armbase_pose`, `states.tcp_to_robot_pose`, `states.robot_to_env_pose` (and matching `actions.*`) | float32 | `[7]` | | `observation.state` | float32 | `[49]` | | `action` | float32 | `[43]` | All declared features are `video` or standard scalar (`float32`/`int64`) dtypes, so nothing was excluded by the FiftyOne importer. `observation.state` and `action` are derived columns, added after import by concatenating the `states.*` and `actions.*` components above (in the fixed order listed in the table) into single vectors, with a `names` array labeling each dimension (e.g. `states.joint.position[0]`, …, `states.gripper.position`, …). FiftyOne’s App only renders its State & Action tile for features literally named `observation.state` / `action`; InternData-A1’s native per-component naming (`states.joint.position`, `actions.gripper.pose`, …) isn’t pattern-matched by that tile. The original per-component columns are left untouched alongside the two new vectors, so no information from the source is lost or duplicated-away. `master_actions.*` (the teleop leader-arm commands, distinct from the executed `actions.*`) was intentionally excluded from the `action` vector and is only available via its original per-component columns. ### `dataset.info` contents `ds.info["lerobot"]["skipped_episodes"]` is `[]`, confirming all 369 requested episodes imported successfully. ### Parsing decisions - **Why this task:** this repo was originally scoped as a 10-task, 5-embodiment “representative mix” spanning Franka, Genie-1, ARX Lift-2, and AgileX Split Aloha. Merging those into one Hub push turned out not to be possible: FiftyOne’s `LeRobotDatasetExporter` requires all exported episodes to share one `source_id` (raises `MediaReferenceError: LeRobotDataset export cannot mix episodes from different sources`), and even independent of that check, the LeRobot v3 format requires one fixed feature schema per dataset — the single-arm Franka schema (`images.rgb.hand`, `states.joint.position`, …) and the dual-arm Genie-1/Lift-2/ Split-Aloha schema (`images.rgb.hand_left`/`hand_right`, `states.left_joint.position`/`right_joint.position`, …) are incompatible within one `info.json`. This repo covers just one of the original 10 candidate tasks, `franka-1/articulation_tasks/close_the_laptop`, as a valid, self-contained example. - **Shard-0, not “all episodes”:** 369 of 578 total episodes for this task were imported — every episode whose `data/file_index` and every video stream’s `file_index` are `0` within `chunk-000`, the largest complete subset obtainable while downloading only the first Parquet/MP4 shard per stream. - **Metadata repair applied:** the source `meta/tasks.parquet` stored the task text as the pandas index (columns `['task_index', '__index_level_0__']`) rather than a literal `task` column, which FiftyOne’s exporter requires (`_read_source_tasks` raised `MalformedMediaSourceError`). Repaired locally by rewriting the file with explicit `task_index`/`task` columns (`df.reset_index().rename(columns={"index": "task"})`), then re-importing this FiftyOne dataset from the repaired source before exporting. - **No modalities excluded:** the task declares only `video` and standard scalar dtypes, so nothing was dropped by the importer. - **Re-export re-indexing:** `episode_index` and `task_index` were local to the source task directory (`0..577`) before this export; the push remaps the 369 selected episodes to a contiguous `0..368` range and recomputes aggregate stats over just this subset. - **License:** unchanged from the source (`cc-by-nc-sa-4.0`, non-commercial). Per the source README, `franka-1` and `franka-2` (not used here) differ in image shape and gripper value range; this subset uses only `franka-1`. - **`observation.state`/`action` packing:** added post-export (see Fields above) so the FiftyOne App’s State & Action tile — which only recognizes those two literal feature names — renders this dataset’s proprioception. Verified the packed vectors exactly reproduce the original per-component values before pushing. ## Dataset Creation ### Curation Rationale To provide a small, self-contained, browsable FiftyOne/LeRobot v3 export of a single Franka articulation task from the very large (2.1 TB, 1,488-task) InternData-A1- LeRobot-v3.0-by-embodiment collection. ### Source Data #### Data Collection and Processing Per the source repo’s card, InternData-A1 was reorganized from [InternRobotics/InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1) by extracting the original tarballs and “transposing” the directory structure so the top-level directories are the embodiments. This FiftyOne subset further selected the `franka-1/articulation_tasks/close_the_laptop` task directory, imported its shard-0 episode set after repairing `meta/tasks.parquet`, and re-exported as a self-contained LeRobot v3.0 repository with episodes re-indexed to `0..368`. ### Annotations #### Annotation process The task instruction (“Close the laptop”) is a free-text string provided in the source `meta/tasks.parquet`; no additional annotation was added for this subset. ## Dataset Card Authors [Harpreet Sahota](https://huggingface.co/harpreetsahota) ## Dataset Card Contact [Harpreet Sahota](https://huggingface.co/harpreetsahota)