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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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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 |
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within this 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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<strong>InternData-A1</strong> is a hybrid synthetic-real manipulation dataset integrating 5 heterogeneous robots, 15 skills, and 200+ scenes, emphasizing multi-robot collaboration under dynamic scenarios. |
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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="400" 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/yuanxuewei/Robot_videos/resolve/main/20250726-014857.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="400" 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/yuanxuewei/Robot_videos/resolve/main/20250725-232612.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="400" 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/yuanxuewei/Robot_videos/resolve/main/20250725-232622.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="400" 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/yuanxuewei/Robot_videos/resolve/main/20250725-232631.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, Openloong Humanoid, A2D, Franka |
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- **Hybrid synthetic-real** manipulation demonstrations with **task-level digital twins** |
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- **Dynamic scenarios include:** |
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- Moving Object Manipulation in Conveyor Belt Scenarios |
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- Multi-robot collaboration |
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- Human-robot interaction |
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# 📋 Table of Contents |
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- [🔑 Key Features](#key-features-) |
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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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If you only want to download a specific dataset, such as `splitaloha`, you can use the following code. |
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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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# Initialize an empty Git repository |
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git init InternData-A1 |
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cd InternData-A1 |
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# Set the remote repository |
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git remote add origin https://huggingface.co/datasets/InternRobotics/InternData-A1 |
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# Enable sparse-checkout |
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git sparse-checkout init |
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# Specify the folders and files |
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git sparse-checkout set physical/splitaloha |
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# Pull the data |
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git pull origin main |
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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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├── simulated |
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│ ├── franka |
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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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├── physical |
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│ ├── splitaloha |
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│ │ └── ... |
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│ └── arx_lift2 |
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│ │ └── ... |
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│ └── A2D |
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│ │ └── ... |
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``` |
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This subdataset(such as `splitaloha`) 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 |
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|
- [ ] **InternData-A1**: ~200,000 simulation demonstrations and ~10,000 real-world robot demonstrations [expected 2025/8/15] |
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- [ ] ~1,000,000 trajectories of hybrid synthetic-real robotic manipulation 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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|
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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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|
``` |
