| | --- |
| | pretty_name: InternData-A1 |
| | size_categories: |
| | - n>1T |
| | task_categories: |
| | - other |
| | - robotics |
| | language: |
| | - en |
| | tags: |
| | - Embodied-AI |
| | - Robotic manipulation |
| | extra_gated_prompt: >- |
| | ### InternData-A1 COMMUNITY LICENSE AGREEMENT |
| | |
| | InternData-A1 Release Date: July 26, 2025. All the data and code within this |
| | repo are under [CC BY-NC-SA |
| | 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). |
| | extra_gated_fields: |
| | First Name: text |
| | Last Name: text |
| | Email: text |
| | Country: country |
| | Affiliation: text |
| | Phone: text |
| | Job title: |
| | type: select |
| | options: |
| | - Student |
| | - Research Graduate |
| | - AI researcher |
| | - AI developer/engineer |
| | - Reporter |
| | - Other |
| | Research interest: text |
| | geo: ip_location |
| | By clicking Submit below I accept the terms of the license and acknowledge that the information I provide will be collected stored processed and shared in accordance with the InternData Privacy Policy: checkbox |
| | extra_gated_description: >- |
| | The information you provide will be collected, stored, processed and shared in |
| | accordance with the InternData Privacy Policy. |
| | extra_gated_button_content: Submit |
| | --- |
| | |
| | # InternData-A1 |
| |
|
| | <div style="display: flex; justify-content: center; align-items: center; margin: 20px 0;"> |
| | <img src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/teaser.png" alt="Teaser Image" style="max-width: 100%; border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
| | </div> |
| | |
| | <div align="center" style="margin: 24px 0;"> |
| | <a href="https://arxiv.org/abs/2511.16651" style="text-decoration:none;"> |
| | <img src="https://img.shields.io/badge/arXiv-2511.16651-red.svg?logo=arxiv&logoColor=white" alt="arXiv Paper: 2511.16651" style="vertical-align: middle; margin-right: 24px; height: 25px;"> |
| | </a> |
| | <a href="https://internrobotics.github.io/interndata-a1.github.io/" style="text-decoration:none;"> |
| | <img src="https://img.shields.io/badge/Project%20Page-interndata--a1.github.io-1976d2?logo=githubpages&logoColor=white" alt="Project Homepage" style="vertical-align: middle; margin-right: 24px; height: 25px;"> |
| | </a> |
| | <a href="https://github.com/InternRobotics" style="text-decoration:none;"> |
| | <img src="https://img.shields.io/badge/Code-GitHub-181717?logo=github&logoColor=white" alt="Code Repository" style="vertical-align: middle; height: 25px;"> |
| | </a> |
| | </div> |
| | |
| |
|
| | <strong>InternData-A1</strong> 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. |
| |
|
| | <div style="display: flex; justify-content: center; align-items: center; margin: 20px 0;"> |
| | <img src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/stats.png" alt="Stats Image" style="max-width: 100%; border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
| | </div> |
| | |
| | <div style="display: flex; flex-direction: column; align-items: center; gap: 10px;"> |
| | <!-- First Row --> |
| | <div style="display: flex; justify-content: center; align-items: center; gap: 10px;"> |
| | <video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
| | <source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/dynamic_pick.mp4" type="video/mp4"> |
| | Your browser does not support the video tag. |
| | </video> |
| | <video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
| | <source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/stack_sandwich.mp4" type="video/mp4"> |
| | Your browser does not support the video tag. |
| | </video> |
| | </div> |
| | <!-- Second Row --> |
| | <div style="display: flex; justify-content: center; align-items: center; gap: 10px;"> |
| | <video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
| | <source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/fold_shirts.mp4" type="video/mp4"> |
| | Your browser does not support the video tag. |
| | </video> |
| | <video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
| | <source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/pour_baijiu.mp4" type="video/mp4"> |
| | Your browser does not support the video tag. |
| | </video> |
| | </div> |
| | <!-- Third Row --> |
| | <div style="display: flex; justify-content: center; align-items: center; gap: 10px;"> |
| | <video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
| | <source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/flip_package.mp4" type="video/mp4"> |
| | Your browser does not support the video tag. |
| | </video> |
| | <video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
| | <source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/shelf_pick.mp4" type="video/mp4"> |
| | Your browser does not support the video tag. |
| | </video> |
| | </div> |
| | </div> |
| | |
| | # 📢 News |
| | - **Supplementary information:** We have supplemented the updated dataset with camera intrinsics, extrinsics, end-effector poses, and TCP poses. For lerobot v2.1, the directory is **sim_updated**. For lerobot v3.0, the directory is **sim_updated_lerobotv30**. |
| | |
| | # 🔑 Key Features |
| | - **Heterogeneous multi-robot platforms:** ARX Lift-2, AgileX Split Aloha, A2D, Franka |
| | - **Hybrid synthetic-real** manipulation demonstrations with **task-level digital twins**, containing four task categories: |
| | - Articulation tasks |
| | - Basic tasks |
| | - Long-horizon tasks |
| | - Pick and place tasks |
| | - **Diverse scenarios include:** |
| | - Moving Object Manipulation in Conveyor Belt Scenarios |
| | - Rigid, articulated, deformable, and fluid-object manipulation |
| | - Multi-robot / multi-arm collaboration |
| | - Human-robot interaction |
| | |
| | |
| | # 📋 Table of Contents |
| | - [Get started 🔥](#get-started-) |
| | - [Download the Dataset](#download-the-dataset) |
| | - [Dataset Structure](#dataset-structure) |
| | - [📅 TODO List ](#todo-list) |
| | - [License and Citation](#license-and-citation) |
| | |
| | # Get started 🔥 |
| | ## Download the Dataset |
| | To download the full dataset, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation. |
| | ``` |
| | # Make sure you have git-lfs installed (https://git-lfs.com) |
| | git lfs install |
| | |
| | # When prompted for a password, use an access token with write permissions. |
| | # Generate one from your settings: https://huggingface.co/settings/tokens |
| | git clone https://huggingface.co/datasets/InternRobotics/InternData-A1 |
| | |
| | # If you want to clone without large files - just their pointers |
| | GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/InternRobotics/InternData-A1 |
| | ``` |
| | |
| | ## Dataset Structure |
| | ### Folder hierarchy |
| | ``` |
| | data |
| | ├── sim |
| | │ ├── articulation_tasks |
| | │ │ └── ... |
| | │ ├── basic_tasks |
| | │ │ └── ... |
| | │ ├── long_horizon_tasks # category |
| | │ │ ├── franka # robot |
| | │ │ │ └── ... |
| | │ │ ├── lift2 |
| | │ │ │ ├── sort_the_rubbish # task |
| | │ │ │ │ ├── data |
| | │ │ │ │ │ ├── chunk-000 |
| | │ │ │ │ │ │ ├── episode_000000.parquet |
| | │ │ │ │ │ │ ├── episode_000001.parquet |
| | │ │ │ │ │ │ ├── episode_000002.parquet |
| | │ │ │ │ │ │ ├── ... |
| | │ │ │ │ │ ├── chunk-001 |
| | │ │ │ │ │ │ ├── ... |
| | │ │ │ │ │ ├── ... |
| | │ │ │ │ ├── meta |
| | │ │ │ │ │ ├── episodes.jsonl |
| | │ │ │ │ │ ├── episodes_stats.jsonl |
| | │ │ │ │ │ ├── info.json |
| | │ │ │ │ │ ├── modality.json |
| | │ │ │ │ │ ├── stats.json |
| | │ │ │ │ │ ├── tasks.jsonl |
| | │ │ │ │ ├── videos |
| | │ │ │ │ │ ├── chunk-000 |
| | │ │ │ │ │ │ ├── images.rgb.head |
| | │ │ │ │ │ │ │ ├── episode_000000.mp4 |
| | │ │ │ │ │ │ │ ├── episode_000001.mp4 |
| | │ │ │ │ │ │ │ ├── ... |
| | │ │ │ │ │ │ ├── ... |
| | │ │ │ │ │ ├── chunk-001 |
| | │ │ │ │ │ │ ├── ... |
| | │ │ │ │ │ ├── ... |
| | │ │ │ ├──... |
| | │ │ ├── split_aloha |
| | │ │ │ └── ... |
| | │ │ ├── ... |
| | │ ├── pick_and_place_tasks |
| | │ │ └── ... |
| | │ ├── ... |
| | ├── real |
| | │ ├── ... |
| | ``` |
| | |
| | This subdataset(such as `sort_the_rubbish`) was created using [LeRobot](https://github.com/huggingface/lerobot) (dataset v2.1). |
| | |
| | ### [meta/info.json](meta/info.json): |
| | ```json |
| | { |
| | "codebase_version": "v2.1", |
| | "robot_type": "piper", |
| | "total_episodes": 1544, |
| | "total_frames": 1477285, |
| | "total_tasks": 1, |
| | "total_videos": 4632, |
| | "total_chunks": 2, |
| | "chunks_size": 1000, |
| | "fps": 30, |
| | "splits": { |
| | "train": "0:1544" |
| | }, |
| | "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
| | "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
| | "features": { |
| | "images.rgb.head": { |
| | "dtype": "video", |
| | "shape": [ |
| | 360, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channel" |
| | ], |
| | "info": { |
| | "video.height": 360, |
| | "video.width": 640, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 30, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "images.rgb.hand_left": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channel" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 30, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "images.rgb.hand_right": { |
| | "dtype": "video", |
| | "shape": [ |
| | 480, |
| | 640, |
| | 3 |
| | ], |
| | "names": [ |
| | "height", |
| | "width", |
| | "channel" |
| | ], |
| | "info": { |
| | "video.height": 480, |
| | "video.width": 640, |
| | "video.codec": "av1", |
| | "video.pix_fmt": "yuv420p", |
| | "video.is_depth_map": false, |
| | "video.fps": 30, |
| | "video.channels": 3, |
| | "has_audio": false |
| | } |
| | }, |
| | "head_camera_intrinsics": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 4 |
| | ], |
| | "names": [ |
| | "fx", |
| | "fy", |
| | "cx", |
| | "cy" |
| | ] |
| | }, |
| | "hand_left_camera_intrinsics": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 4 |
| | ], |
| | "names": [ |
| | "fx", |
| | "fy", |
| | "cx", |
| | "cy" |
| | ] |
| | }, |
| | "hand_right_camera_intrinsics": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 4 |
| | ], |
| | "names": [ |
| | "fx", |
| | "fy", |
| | "cx", |
| | "cy" |
| | ] |
| | }, |
| | "head_camera_to_robot_extrinsics": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "hand_left_camera_to_robot_extrinsics": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "hand_right_camera_to_robot_extrinsics": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.left_joint.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "left_joint_0", |
| | "left_joint_1", |
| | "left_joint_2", |
| | "left_joint_3", |
| | "left_joint_4", |
| | "left_joint_5" |
| | ] |
| | }, |
| | "states.left_gripper.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "left_gripper_0" |
| | ] |
| | }, |
| | "states.left_ee_to_left_armbase_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.left_ee_to_robot_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.left_tcp_to_left_armbase_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.left_tcp_to_robot_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.right_joint.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "right_joint_0", |
| | "right_joint_1", |
| | "right_joint_2", |
| | "right_joint_3", |
| | "right_joint_4", |
| | "right_joint_5" |
| | ] |
| | }, |
| | "states.right_gripper.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "right_gripper_0" |
| | ] |
| | }, |
| | "states.right_ee_to_right_armbase_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.right_ee_to_robot_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.right_tcp_to_right_armbase_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.right_tcp_to_robot_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "states.robot_to_env_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "actions.left_joint.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "left_joint_0", |
| | "left_joint_1", |
| | "left_joint_2", |
| | "left_joint_3", |
| | "left_joint_4", |
| | "left_joint_5" |
| | ] |
| | }, |
| | "actions.left_gripper.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "left_gripper_0" |
| | ] |
| | }, |
| | "actions.left_ee_to_left_armbase_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "actions.left_ee_to_robot_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "actions.left_tcp_to_left_armbase_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "actions.left_tcp_to_robot_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "actions.right_joint.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "right_joint_0", |
| | "right_joint_1", |
| | "right_joint_2", |
| | "right_joint_3", |
| | "right_joint_4", |
| | "right_joint_5" |
| | ] |
| | }, |
| | "actions.right_gripper.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "right_gripper_0" |
| | ] |
| | }, |
| | "actions.right_ee_to_right_armbase_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "actions.right_ee_to_robot_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "actions.right_tcp_to_right_armbase_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "actions.right_tcp_to_robot_pose": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 7 |
| | ], |
| | "names": [ |
| | "position.x", |
| | "position.y", |
| | "position.z", |
| | "quaternion.w", |
| | "quaternion.x", |
| | "quaternion.y", |
| | "quaternion.z" |
| | ] |
| | }, |
| | "master_actions.left_joint.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "left_joint_0", |
| | "left_joint_1", |
| | "left_joint_2", |
| | "left_joint_3", |
| | "left_joint_4", |
| | "left_joint_5" |
| | ] |
| | }, |
| | "master_actions.left_gripper.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "left_gripper_0" |
| | ] |
| | }, |
| | "master_actions.left_gripper.openness": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "left_gripper_0" |
| | ] |
| | }, |
| | "master_actions.right_joint.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 6 |
| | ], |
| | "names": [ |
| | "right_joint_0", |
| | "right_joint_1", |
| | "right_joint_2", |
| | "right_joint_3", |
| | "right_joint_4", |
| | "right_joint_5" |
| | ] |
| | }, |
| | "master_actions.right_gripper.position": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "right_gripper_0" |
| | ] |
| | }, |
| | "master_actions.right_gripper.openness": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": [ |
| | "right_gripper_0" |
| | ] |
| | }, |
| | "timestamp": { |
| | "dtype": "float32", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "frame_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "episode_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | }, |
| | "task_index": { |
| | "dtype": "int64", |
| | "shape": [ |
| | 1 |
| | ], |
| | "names": null |
| | } |
| | } |
| | } |
| | |
| | ``` |
| | |
| | ### key format in features |
| | Select appropriate keys for features based on characteristics such as ontology, single-arm or bimanual-arm, etc. |
| | ``` |
| | |-- images |
| | |-- rgb |
| | |-- head |
| | |-- hand_left |
| | |-- hand_right |
| | |-- states |
| | |-- left_joint |
| | |-- position |
| | |-- right_joint |
| | |-- position |
| | |-- left_gripper |
| | |-- position |
| | |-- right_gripper |
| | |-- position |
| | |-- actions |
| | |-- left_joint |
| | |-- position |
| | |-- right_joint |
| | |-- position |
| | |-- left_gripper |
| | |-- position |
| | |-- right_gripper |
| | |-- position |
| | |
| | ``` |
| | |
| | # 📅 TODO List |
| | - [x] [2025.11] Released: 632k simulation pretraining data (over 7433 hours). The directory is **sim**. |
| | - [x] [2026.01] Released: 589k simulation pretraining data with full annotations of camera intrinsics, extrinsics, ee pose and tcp pose. For lerobot v2.1, the directory is **sim_updated**. For lerobot v3.0, the directory is **sim_updated_lerobotv30**. |
| | - [ ] To be released: real-world post-training data. |
| |
|
| | # License and Citation |
| | All the data and code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research. |
| |
|
| | ```BibTeX |
| | @misc{contributors2025internroboticsrepo, |
| | title={InternData-A1}, |
| | author={InternData-A1 contributors}, |
| | howpublished={\url{https://github.com/InternRobotics/InternManip}}, year={2025} |
| | } |
| | ``` |
