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.