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--- |
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pretty_name: InternData-A1 |
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size_categories: |
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- n>1T |
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task_categories: |
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- other |
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- robotics |
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language: |
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- en |
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tags: |
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- Embodied-AI |
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- Robotic manipulation |
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extra_gated_prompt: >- |
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### InternData-A1 COMMUNITY LICENSE AGREEMENT |
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InternData-A1 Release Date: July 26, 2025. All the data and code within this |
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repo are under [CC BY-NC-SA |
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4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). |
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extra_gated_fields: |
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First Name: text |
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Last Name: text |
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Email: text |
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Country: country |
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Affiliation: text |
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Phone: text |
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Job title: |
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type: select |
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options: |
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- Student |
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- Research Graduate |
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- AI researcher |
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- AI developer/engineer |
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- Reporter |
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- Other |
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Research interest: text |
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geo: ip_location |
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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 |
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extra_gated_description: >- |
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The information you provide will be collected, stored, processed and shared in |
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accordance with the InternData Privacy Policy. |
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extra_gated_button_content: Submit |
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--- |
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# InternData-A1 |
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<div style="display: flex; justify-content: center; align-items: center; margin: 20px 0;"> |
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<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);"> |
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</div> |
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<div align="center" style="margin: 24px 0;"> |
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<a href="https://arxiv.org/abs/2511.16651" style="text-decoration:none;"> |
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<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;"> |
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</a> |
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<a href="https://internrobotics.github.io/interndata-a1.github.io/" style="text-decoration:none;"> |
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<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;"> |
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</a> |
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<a href="https://github.com/InternRobotics" style="text-decoration:none;"> |
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<img src="https://img.shields.io/badge/Code-GitHub-181717?logo=github&logoColor=white" alt="Code Repository" style="vertical-align: middle; height: 25px;"> |
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</a> |
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</div> |
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<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. |
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<div style="display: flex; justify-content: center; align-items: center; margin: 20px 0;"> |
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<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);"> |
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</div> |
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<div style="display: flex; flex-direction: column; align-items: center; gap: 10px;"> |
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<!-- First Row --> |
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<div style="display: flex; justify-content: center; align-items: center; gap: 10px;"> |
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<video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
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<source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/dynamic_pick.mp4" type="video/mp4"> |
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Your browser does not support the video tag. |
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</video> |
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<video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
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<source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/stack_sandwich.mp4" type="video/mp4"> |
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Your browser does not support the video tag. |
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</video> |
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</div> |
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<!-- Second Row --> |
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<div style="display: flex; justify-content: center; align-items: center; gap: 10px;"> |
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<video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
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<source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/fold_shirts.mp4" type="video/mp4"> |
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Your browser does not support the video tag. |
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</video> |
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<video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
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<source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/pour_baijiu.mp4" type="video/mp4"> |
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Your browser does not support the video tag. |
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</video> |
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</div> |
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<!-- Third Row --> |
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<div style="display: flex; justify-content: center; align-items: center; gap: 10px;"> |
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<video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
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<source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/flip_package.mp4" type="video/mp4"> |
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Your browser does not support the video tag. |
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</video> |
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<video controls autoplay loop muted width="50%" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);"> |
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<source src="https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/shelf_pick.mp4" type="video/mp4"> |
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Your browser does not support the video tag. |
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</video> |
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</div> |
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</div> |
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# 🔑 Key Features |
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- **Heterogeneous multi-robot platforms:** ARX Lift-2, AgileX Split Aloha, A2D, Franka |
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- **Hybrid synthetic-real** manipulation demonstrations with **task-level digital twins**, containing four task categories: |
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- Articulation tasks |
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- Basic tasks |
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- Long-horizon tasks |
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- Pick and place tasks |
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- **Diverse scenarios include:** |
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- Moving Object Manipulation in Conveyor Belt Scenarios |
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- Rigid, articulated, deformable, and fluid-object manipulation |
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- Multi-robot / multi-arm collaboration |
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- Human-robot interaction |
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# 📋 Table of Contents |
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- [Get started 🔥](#get-started-) |
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- [Download the Dataset](#download-the-dataset) |
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- [Dataset Structure](#dataset-structure) |
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- [📅 TODO List ](#todo-list) |
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- [License and Citation](#license-and-citation) |
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# Get started 🔥 |
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## Download the Dataset |
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To download the full dataset, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation. |
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``` |
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# Make sure you have git-lfs installed (https://git-lfs.com) |
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git lfs install |
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# When prompted for a password, use an access token with write permissions. |
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# Generate one from your settings: https://huggingface.co/settings/tokens |
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git clone https://huggingface.co/datasets/InternRobotics/InternData-A1 |
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# If you want to clone without large files - just their pointers |
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GIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/InternRobotics/InternData-A1 |
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``` |
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## Dataset Structure |
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### Folder hierarchy |
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``` |
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data |
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├── sim |
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│ ├── articulation_tasks |
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│ │ └── ... |
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│ ├── basic_tasks |
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│ │ └── ... |
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│ ├── long_horizon_tasks # category |
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│ │ ├── franka # robot |
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│ │ │ └── ... |
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│ │ ├── lift2 |
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│ │ │ ├── sort_the_rubbish # task |
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│ │ │ │ ├── data |
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│ │ │ │ │ ├── chunk-000 |
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│ │ │ │ │ │ ├── episode_000000.parquet |
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│ │ │ │ │ │ ├── episode_000001.parquet |
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│ │ │ │ │ │ ├── episode_000002.parquet |
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│ │ │ │ │ │ ├── ... |
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│ │ │ │ │ ├── chunk-001 |
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│ │ │ │ │ │ ├── ... |
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│ │ │ │ │ ├── ... |
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│ │ │ │ ├── meta |
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│ │ │ │ │ ├── episodes.jsonl |
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│ │ │ │ │ ├── episodes_stats.jsonl |
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│ │ │ │ │ ├── info.json |
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│ │ │ │ │ ├── modality.json |
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│ │ │ │ │ ├── stats.json |
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│ │ │ │ │ ├── tasks.jsonl |
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│ │ │ │ ├── videos |
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│ │ │ │ │ ├── chunk-000 |
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│ │ │ │ │ │ ├── images.rgb.head |
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│ │ │ │ │ │ │ ├── episode_000000.mp4 |
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│ │ │ │ │ │ │ ├── episode_000001.mp4 |
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│ │ │ │ │ │ │ ├── ... |
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│ │ │ │ │ │ ├── ... |
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│ │ │ │ │ ├── chunk-001 |
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│ │ │ │ │ │ ├── ... |
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│ │ │ │ │ ├── ... |
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│ │ │ ├──... |
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│ │ ├── split_aloha |
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│ │ │ └── ... |
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│ │ ├── ... |
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│ ├── pick_and_place_tasks |
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│ │ └── ... |
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│ ├── ... |
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├── real |
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│ ├── ... |
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``` |
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This subdataset(such as `sort_the_rubbish`) was created using [LeRobot](https://github.com/huggingface/lerobot) (dataset v2.1). For GROOT training framework compatibility, additional `stats.json` and `modality.json` files are included, where `stats.json` provides statistical values (mean, std, min, max, q01, q99) for each feature across the dataset, and `modality.json` defines model-related custom modalities. |
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### [meta/info.json](meta/info.json): |
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```json |
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{ |
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"codebase_version": "v2.1", |
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"robot_type": "piper", |
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"total_episodes": 100, |
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"total_frames": 49570, |
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"total_tasks": 1, |
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"total_videos": 300, |
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"total_chunks": 1, |
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"chunks_size": 1000, |
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"fps": 30, |
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"splits": { |
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"train": "0:100" |
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}, |
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"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", |
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"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", |
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"features": { |
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"images.rgb.head": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.fps": 30.0, |
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"video.height": 720, |
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"video.width": 1280, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"images.rgb.hand_left": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.fps": 30.0, |
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"video.height": 480, |
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"video.width": 640, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"images.rgb.hand_right": { |
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"dtype": "video", |
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"shape": [ |
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480, |
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640, |
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3 |
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], |
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"names": [ |
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"height", |
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"width", |
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"channel" |
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], |
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"info": { |
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"video.fps": 30.0, |
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"video.height": 480, |
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"video.width": 640, |
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"video.channels": 3, |
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"video.codec": "av1", |
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"video.pix_fmt": "yuv420p", |
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"video.is_depth_map": false, |
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"has_audio": false |
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} |
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}, |
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"states.left_joint.position": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"left_joint_0", |
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"left_joint_1", |
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"left_joint_2", |
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"left_joint_3", |
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"left_joint_4", |
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"left_joint_5" |
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] |
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}, |
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"states.left_gripper.position": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"left_gripper_0" |
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] |
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}, |
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"states.right_joint.position": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"right_joint_0", |
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"right_joint_1", |
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"right_joint_2", |
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"right_joint_3", |
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"right_joint_4", |
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"right_joint_5" |
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] |
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}, |
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"states.right_gripper.position": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"right_gripper_0" |
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] |
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}, |
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"actions.left_joint.position": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"left_joint_0", |
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"left_joint_1", |
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"left_joint_2", |
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"left_joint_3", |
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"left_joint_4", |
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"left_joint_5" |
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] |
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}, |
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"actions.left_gripper.position": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"left_gripper_0" |
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] |
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}, |
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"actions.right_joint.position": { |
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"dtype": "float32", |
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"shape": [ |
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6 |
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], |
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"names": [ |
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"right_joint_0", |
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"right_joint_1", |
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"right_joint_2", |
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"right_joint_3", |
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"right_joint_4", |
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"right_joint_5" |
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] |
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}, |
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"actions.right_gripper.position": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": [ |
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"right_gripper_0" |
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] |
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}, |
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"timestamp": { |
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"dtype": "float32", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"frame_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"episode_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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}, |
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"task_index": { |
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"dtype": "int64", |
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"shape": [ |
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1 |
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], |
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"names": null |
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} |
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} |
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} |
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``` |
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### key format in features |
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Select appropriate keys for features based on characteristics such as ontology, single-arm or bimanual-arm, etc. |
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``` |
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|-- images |
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|-- rgb |
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|-- head |
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|-- hand_left |
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|-- hand_right |
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|-- states |
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|-- left_joint |
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|-- position |
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|-- right_joint |
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|-- position |
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|-- left_gripper |
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|-- position |
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|-- right_gripper |
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|-- position |
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|-- actions |
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|-- left_joint |
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|-- position |
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|-- right_joint |
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|-- position |
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|-- left_gripper |
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|-- position |
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|-- right_gripper |
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|-- position |
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``` |
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# 📅 TODO List |
|
|
- [x] Released: 632k simulation pretraining data (over 7433 hours). |
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- [ ] To be released: real-world post-training data. |
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# 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. |
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|
|
|
```BibTeX |
|
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@misc{contributors2025internroboticsrepo, |
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title={InternData-A1}, |
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author={InternData-A1 contributors}, |
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howpublished={\url{https://github.com/InternRobotics/InternManip}}, year={2025} |
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} |
|
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``` |
