{"RequestId":"b9ed90f1-4c8b-4a26-b1b0-c06c72771c16","Code":200,"Message":"success","Data":{"isTop":null,"relatedPaperId":[214517],"nexa":null,"Id":125697,"Namespace":"InternRobotics","Name":"InternData-A1","CreatedBy":"Cherrytest","ChineseName":"","License":"Apache License 2.0","Description":"","Visibility":5,"Type":4,"Owner":"InternRobotics","UserDefineTags":"Embodied-AI,Robotic manipulation","Likes":8,"Downloads":2194675,"Size":null,"ReadmeContent":"\n# InternData-A1\n\n<div style=\"display: flex; justify-content: center; align-items: center; margin: 20px 0;\">\n    <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);\">\n</div>\n\n<div align=\"center\" style=\"margin: 24px 0;\">\n  <a href=\"https://arxiv.org/abs/2511.16651\" style=\"text-decoration:none;\">\n    <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;\">\n  </a>\n  <a href=\"https://internrobotics.github.io/interndata-a1.github.io/\" style=\"text-decoration:none;\">\n    <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;\">\n  </a>\n  <a href=\"https://github.com/InternRobotics\" style=\"text-decoration:none;\">\n    <img src=\"https://img.shields.io/badge/Code-GitHub-181717?logo=github&logoColor=white\" alt=\"Code Repository\" style=\"vertical-align: middle; height: 25px;\">\n  </a>\n</div>\n\n\n<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.\n\n<div style=\"display: flex; justify-content: center; align-items: center; margin: 20px 0;\">\n    <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);\">\n</div>\n\n<div style=\"display: flex; flex-direction: column; align-items: center; gap: 10px;\">\n    <!-- First Row -->\n    <div style=\"display: flex; justify-content: center; align-items: center; gap: 10px;\">\n        <video controls autoplay loop muted width=\"50%\" style=\"border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);\">\n            <source src=\"https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/dynamic_pick.mp4\" type=\"video/mp4\">\n            Your browser does not support the video tag.\n        </video>\n        <video controls autoplay loop muted width=\"50%\" style=\"border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);\">\n            <source src=\"https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/stack_sandwich.mp4\" type=\"video/mp4\">\n            Your browser does not support the video tag.\n        </video>\n        </div>\n    <!-- Second Row -->\n    <div style=\"display: flex; justify-content: center; align-items: center; gap: 10px;\">\n        <video controls autoplay loop muted width=\"50%\" style=\"border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);\">\n            <source src=\"https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/fold_shirts.mp4\" type=\"video/mp4\">\n            Your browser does not support the video tag.\n        </video>\n        <video controls autoplay loop muted width=\"50%\" style=\"border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);\">\n            <source src=\"https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/pour_baijiu.mp4\" type=\"video/mp4\">\n            Your browser does not support the video tag.\n        </video>\n    </div>\n    <!-- Third Row -->\n    <div style=\"display: flex; justify-content: center; align-items: center; gap: 10px;\">\n        <video controls autoplay loop muted width=\"50%\" style=\"border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);\">\n            <source src=\"https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/flip_package.mp4\" type=\"video/mp4\">\n            Your browser does not support the video tag.\n        </video>\n        <video controls autoplay loop muted width=\"50%\" style=\"border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);\">\n            <source src=\"https://huggingface.co/spaces/xushicd/InternData_Media/resolve/main/shelf_pick.mp4\" type=\"video/mp4\">\n            Your browser does not support the video tag.\n        </video>\n    </div>\n</div>\n\n# \uD83D\uDCE2 News\n- **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**.\n\n# \uD83D\uDD11 Key Features\n- **Heterogeneous multi-robot platforms:** ARX Lift-2, AgileX Split Aloha, A2D, Franka\n- **Hybrid synthetic-real** manipulation demonstrations with **task-level digital twins**, containing four task categories:\n    - Articulation tasks\n    - Basic tasks\n    - Long-horizon tasks\n    - Pick and place tasks\n- **Diverse scenarios include:**\n    - Moving Object Manipulation in Conveyor Belt Scenarios\n    - Rigid, articulated, deformable, and fluid-object manipulation\n    - Multi-robot / multi-arm collaboration\n    - Human-robot interaction\n\n\n# \uD83D\uDCCB Table of Contents\n- [Get started \uD83D\uDD25](#get-started-)\n  - [Download the Dataset](#download-the-dataset)\n  - [Dataset Structure](#dataset-structure)\n- [\uD83D\uDCC5 TODO List ](#todo-list)\n- [License and Citation](#license-and-citation)\n\n# Get started \uD83D\uDD25    \n## Download the Dataset \nTo download the full dataset, you can use the following code. If you encounter any issues, please refer to the official Hugging Face documentation.\n```\n# Make sure you have git-lfs installed (https://git-lfs.com)\ngit lfs install\n\n# When prompted for a password, use an access token with write permissions.\n# Generate one from your settings: https://huggingface.co/settings/tokens\ngit clone https://huggingface.co/datasets/InternRobotics/InternData-A1\n\n# If you want to clone without large files - just their pointers\nGIT_LFS_SKIP_SMUDGE=1 git clone https://huggingface.co/datasets/InternRobotics/InternData-A1\n```\n\n## Dataset Structure\n### Folder hierarchy\n```\ndata\n├── sim\n│   ├── articulation_tasks\n│   │   └── ...\n│   ├── basic_tasks\n│   │   └── ...\n│   ├── long_horizon_tasks                     # category\n│   │   ├── franka                             # robot\n│   │   │   └── ...\n│   │   ├── lift2\n│   │   │   ├── sort_the_rubbish               # task\n│   │   │   │   ├── data \n│   │   │   │   │   ├── chunk-000 \n│   │   │   │   │   │   ├── episode_000000.parquet\n│   │   │   │   │   │   ├── episode_000001.parquet\n│   │   │   │   │   │   ├── episode_000002.parquet\n│   │   │   │   │   │   ├── ...\n│   │   │   │   │   ├── chunk-001\n│   │   │   │   │   │   ├── ...\n│   │   │   │   │   ├── ...\n│   │   │   │   ├── meta\n│   │   │   │   │   ├── episodes.jsonl  \n│   │   │   │   │   ├── episodes_stats.jsonl   \n│   │   │   │   │   ├── info.json      \n│   │   │   │   │   ├── modality.json  \n│   │   │   │   │   ├── stats.json     \n│   │   │   │   │   ├── tasks.jsonl   \n│   │   │   │   ├── videos\n│   │   │   │   │   ├── chunk-000 \n│   │   │   │   │   │   ├── images.rgb.head\n│   │   │   │   │   │   │   ├── episode_000000.mp4\n│   │   │   │   │   │   │   ├── episode_000001.mp4\n│   │   │   │   │   │   │   ├── ...\n│   │   │   │   │   │   ├── ...\n│   │   │   │   │   ├── chunk-001\n│   │   │   │   │   │   ├── ...\n│   │   │   │   │   ├── ...\n│   │   │   ├──...\n│   │   ├── split_aloha\n│   │   │   └── ...\n│   │   ├── ...\n│   ├── pick_and_place_tasks\n│   │   └── ...\n│   ├── ...\n├── real\n│   ├── ...\n```\n\nThis subdataset(such as `sort_the_rubbish`) was created using [LeRobot](https://github.com/huggingface/lerobot) (dataset v2.1). \n\n### [meta/info.json](meta/info.json):\n```json\n{\n    \"codebase_version\": \"v2.1\",\n    \"robot_type\": \"piper\",\n    \"total_episodes\": 1544,\n    \"total_frames\": 1477285,\n    \"total_tasks\": 1,\n    \"total_videos\": 4632,\n    \"total_chunks\": 2,\n    \"chunks_size\": 1000,\n    \"fps\": 30,\n    \"splits\": {\n        \"train\": \"0:1544\"\n    },\n    \"data_path\": \"data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet\",\n    \"video_path\": \"videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4\",\n    \"features\": {\n        \"images.rgb.head\": {\n            \"dtype\": \"video\",\n            \"shape\": [\n                360,\n                640,\n                3\n            ],\n            \"names\": [\n                \"height\",\n                \"width\",\n                \"channel\"\n            ],\n            \"info\": {\n                \"video.height\": 360,\n                \"video.width\": 640,\n                \"video.codec\": \"av1\",\n                \"video.pix_fmt\": \"yuv420p\",\n                \"video.is_depth_map\": false,\n                \"video.fps\": 30,\n                \"video.channels\": 3,\n                \"has_audio\": false\n            }\n        },\n        \"images.rgb.hand_left\": {\n            \"dtype\": \"video\",\n            \"shape\": [\n                480,\n                640,\n                3\n            ],\n            \"names\": [\n                \"height\",\n                \"width\",\n                \"channel\"\n            ],\n            \"info\": {\n                \"video.height\": 480,\n                \"video.width\": 640,\n                \"video.codec\": \"av1\",\n                \"video.pix_fmt\": \"yuv420p\",\n                \"video.is_depth_map\": false,\n                \"video.fps\": 30,\n                \"video.channels\": 3,\n                \"has_audio\": false\n            }\n        },\n        \"images.rgb.hand_right\": {\n            \"dtype\": \"video\",\n            \"shape\": [\n                480,\n                640,\n                3\n            ],\n            \"names\": [\n                \"height\",\n                \"width\",\n                \"channel\"\n            ],\n            \"info\": {\n                \"video.height\": 480,\n                \"video.width\": 640,\n                \"video.codec\": \"av1\",\n                \"video.pix_fmt\": \"yuv420p\",\n                \"video.is_depth_map\": false,\n                \"video.fps\": 30,\n                \"video.channels\": 3,\n                \"has_audio\": false\n            }\n        },\n        \"head_camera_intrinsics\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                4\n            ],\n            \"names\": [\n                \"fx\",\n                \"fy\",\n                \"cx\",\n                \"cy\"\n            ]\n        },\n        \"hand_left_camera_intrinsics\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                4\n            ],\n            \"names\": [\n                \"fx\",\n                \"fy\",\n                \"cx\",\n                \"cy\"\n            ]\n        },\n        \"hand_right_camera_intrinsics\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                4\n            ],\n            \"names\": [\n                \"fx\",\n                \"fy\",\n                \"cx\",\n                \"cy\"\n            ]\n        },\n        \"head_camera_to_robot_extrinsics\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"hand_left_camera_to_robot_extrinsics\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"hand_right_camera_to_robot_extrinsics\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.left_joint.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                6\n            ],\n            \"names\": [\n                \"left_joint_0\",\n                \"left_joint_1\",\n                \"left_joint_2\",\n                \"left_joint_3\",\n                \"left_joint_4\",\n                \"left_joint_5\"\n            ]\n        },\n        \"states.left_gripper.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": [\n                \"left_gripper_0\"\n            ]\n        },\n        \"states.left_ee_to_left_armbase_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.left_ee_to_robot_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.left_tcp_to_left_armbase_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.left_tcp_to_robot_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.right_joint.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                6\n            ],\n            \"names\": [\n                \"right_joint_0\",\n                \"right_joint_1\",\n                \"right_joint_2\",\n                \"right_joint_3\",\n                \"right_joint_4\",\n                \"right_joint_5\"\n            ]\n        },\n        \"states.right_gripper.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": [\n                \"right_gripper_0\"\n            ]\n        },\n        \"states.right_ee_to_right_armbase_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.right_ee_to_robot_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.right_tcp_to_right_armbase_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.right_tcp_to_robot_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"states.robot_to_env_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"actions.left_joint.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                6\n            ],\n            \"names\": [\n                \"left_joint_0\",\n                \"left_joint_1\",\n                \"left_joint_2\",\n                \"left_joint_3\",\n                \"left_joint_4\",\n                \"left_joint_5\"\n            ]\n        },\n        \"actions.left_gripper.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": [\n                \"left_gripper_0\"\n            ]\n        },\n        \"actions.left_ee_to_left_armbase_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"actions.left_ee_to_robot_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"actions.left_tcp_to_left_armbase_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"actions.left_tcp_to_robot_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"actions.right_joint.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                6\n            ],\n            \"names\": [\n                \"right_joint_0\",\n                \"right_joint_1\",\n                \"right_joint_2\",\n                \"right_joint_3\",\n                \"right_joint_4\",\n                \"right_joint_5\"\n            ]\n        },\n        \"actions.right_gripper.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": [\n                \"right_gripper_0\"\n            ]\n        },\n        \"actions.right_ee_to_right_armbase_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"actions.right_ee_to_robot_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"actions.right_tcp_to_right_armbase_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"actions.right_tcp_to_robot_pose\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                7\n            ],\n            \"names\": [\n                \"position.x\",\n                \"position.y\",\n                \"position.z\",\n                \"quaternion.w\",\n                \"quaternion.x\",\n                \"quaternion.y\",\n                \"quaternion.z\"\n            ]\n        },\n        \"master_actions.left_joint.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                6\n            ],\n            \"names\": [\n                \"left_joint_0\",\n                \"left_joint_1\",\n                \"left_joint_2\",\n                \"left_joint_3\",\n                \"left_joint_4\",\n                \"left_joint_5\"\n            ]\n        },\n        \"master_actions.left_gripper.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": [\n                \"left_gripper_0\"\n            ]\n        },\n        \"master_actions.left_gripper.openness\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": [\n                \"left_gripper_0\"\n            ]\n        },\n        \"master_actions.right_joint.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                6\n            ],\n            \"names\": [\n                \"right_joint_0\",\n                \"right_joint_1\",\n                \"right_joint_2\",\n                \"right_joint_3\",\n                \"right_joint_4\",\n                \"right_joint_5\"\n            ]\n        },\n        \"master_actions.right_gripper.position\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": [\n                \"right_gripper_0\"\n            ]\n        },\n        \"master_actions.right_gripper.openness\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": [\n                \"right_gripper_0\"\n            ]\n        },\n        \"timestamp\": {\n            \"dtype\": \"float32\",\n            \"shape\": [\n                1\n            ],\n            \"names\": null\n        },\n        \"frame_index\": {\n            \"dtype\": \"int64\",\n            \"shape\": [\n                1\n            ],\n            \"names\": null\n        },\n        \"episode_index\": {\n            \"dtype\": \"int64\",\n            \"shape\": [\n                1\n            ],\n            \"names\": null\n        },\n        \"index\": {\n            \"dtype\": \"int64\",\n            \"shape\": [\n                1\n            ],\n            \"names\": null\n        },\n        \"task_index\": {\n            \"dtype\": \"int64\",\n            \"shape\": [\n                1\n            ],\n            \"names\": null\n        }\n    }\n}\n\n```\n\n### key format in features\nSelect appropriate keys for features based on characteristics such as ontology, single-arm or bimanual-arm, etc.\n```\n|-- images\n    |-- rgb\n        |-- head  \n        |-- hand_left\n        |-- hand_right\n|-- states\n    |-- left_joint\n        |-- position\n    |-- right_joint\n        |-- position\n    |-- left_gripper\n        |-- position\n    |-- right_gripper\n        |-- position\n|-- actions\n    |-- left_joint\n        |-- position\n    |-- right_joint\n        |-- position\n    |-- left_gripper\n        |-- position\n    |-- right_gripper\n        |-- position\n\n```\n\n# \uD83D\uDCC5 TODO List \n- [x] [2025.11] Released: 632k simulation pretraining data (over 7433 hours). The directory is **sim**.\n- [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**.\n- [ ] To be released: real-world post-training data.\n\n# License and Citation\nAll 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.\n\n```BibTeX\n@misc{contributors2025internroboticsrepo,\n  title={InternData-A1},\n  author={InternData-A1 contributors},\n  howpublished={\\url{https://github.com/InternRobotics/InternManip}},  year={2025}\n}\n```","AlreadyStar":false,"GmtCreate":1753674189,"GmtModified":1792408399,"Tags":null,"Status":1,"FullName":"InternRobotics","Organization":{"Id":2387,"GmtCreated":1753645088,"GmtModified":1772156919,"Name":"InternRobotics","FullName":"InternRobotics","Type":2,"Avatar":"https://resources.modelscope.cn/avatar/1313e1b5-b06d-4ccb-9416-a8516202fbc6.webp","CreatedBy":"Cherrytest","GithubAddress":"https://internrobotics.shlab.org.cn","Description":"[\"root\",{},[\"p\",{},[\"span\",{\"data-type\":\"text\"},[\"span\",{\"data-type\":\"leaf\"},\"\"]]]]","DatasetCount":null},"UsedFor":null,"CertificationMark":0,"LastUpdatedTime":1785838645,"FromSite":"maas","SourcePlatform":null,"topIndex":null,"IsFlex":0,"StorageSize":7046671747748,"RelateArxivId":["2511.16651"],"Avatar":null,"ProtectedMode":2,"ApprovalMode":null,"ApplyMeta":null,"NEXA":null},"PageNumber":null,"PageSize":null,"TotalCount":null}