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<div align="center"> <div align="center">
# InternDataEngine: A simulation-based data generation engine designed for robotic learning. # InternDataEngine: A simulation-based data generation engine designed for robotic learning.
</div> </div>
<div align="center">
[![Paper InternData-A1](https://img.shields.io/badge/Paper-InternData--A1-red.svg)](https://arxiv.org/abs/2511.16651) [![Paper InternData-A1](https://img.shields.io/badge/Paper-InternData--A1-red.svg)](https://arxiv.org/abs/2511.16651)
[![Paper Nimbus](https://img.shields.io/badge/Paper-Nimbus-red.svg)](https://arxiv.org/abs/2601.21449) [![Paper Nimbus](https://img.shields.io/badge/Paper-Nimbus-red.svg)](https://arxiv.org/abs/2601.21449)
[![Paper InternVLA-M1](https://img.shields.io/badge/Paper-InternVLA--M1-red.svg)](https://arxiv.org/abs/2510.13778) [![Paper InternVLA-M1](https://img.shields.io/badge/Paper-InternVLA--M1-red.svg)](https://arxiv.org/abs/2510.13778)
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[![Data InternData-M1](https://img.shields.io/badge/Data-InternData--M1-blue?logo=huggingface)](https://huggingface.co/datasets/InternRobotics/InternData-M1) [![Data InternData-M1](https://img.shields.io/badge/Data-InternData--M1-blue?logo=huggingface)](https://huggingface.co/datasets/InternRobotics/InternData-M1)
[![Docs](https://img.shields.io/badge/Docs-TBD-lightgrey.svg)](#) [![Docs](https://img.shields.io/badge/Docs-TBD-lightgrey.svg)](#)
</div>
## 💻 About ## 💻 About
InternDataEngine is a data-centric engine for embodied AI that powers large-scale model training and iteration. <div align="center">
Built on NVIDIA Isaac Sim, it unifies high-fidelity physical interaction from InternData-A1, semantic task and scene generation from InternData-M1, and high-throughput scheduling from the Nimbus framework to deliver realistic, task-aligned, and massively scalable robotic manipulation data. <img src="./docs/images/intern_data_engine.jpeg" alt="InternDataEngine Overview" width="80%">
</div>
InternDataEngine is a synthetic data generation engine for embodied AI that powers large-scale model training and iteration. Built on NVIDIA Isaac Sim, it unifies high-fidelity physical interaction from InternData-A1, semantic task and scene generation from InternData-M1, and high-throughput scheduling from the Nimbus framework to deliver realistic, task-aligned, and massively scalable robotic manipulation data.
- **More realistic physical interaction**: Unified simulation of rigid, articulated, deformable, and fluid objects across single-arm, dual-arm, and humanoid robots, enabling long-horizon, skill-composed manipulation that better supports sim-to-real transfer. - **More realistic physical interaction**: Unified simulation of rigid, articulated, deformable, and fluid objects across single-arm, dual-arm, and humanoid robots, enabling long-horizon, skill-composed manipulation that better supports sim-to-real transfer.
- **More task-aligned data generation**: LLM-driven task and instruction generation with task-oriented scene graphs (ToSG), producing structured scenes and rich multi-modal annotations (boxes, keypoints, trajectories) for complex instruction-following and spatial reasoning. - **More task-aligned data generation**: LLM-driven task and instruction generation with task-oriented scene graphs (ToSG), producing structured scenes and rich multi-modal annotations (boxes, keypoints, trajectories) for complex instruction-following and spatial reasoning.
- **More efficient large-scale production**: Nimbus-powered asynchronous pipelines that decouple planning, rendering, and storage, achieving 2–3× end-to-end throughput, cluster-level load balancing and fault tolerance for billion-scale data generation. - **More efficient large-scale production**: Nimbus-powered asynchronous pipelines that decouple planning, rendering, and storage, achieving 2–3× end-to-end throughput, cluster-level load balancing and fault tolerance for billion-scale data generation.
## 🔥 Latest News ## 🔥 Latest News
- **[2026/03]** We release the InternDataEngine codebase, which includes the core modules: InternData-A1, Nimbus, and InternData-M1. - **[2026/03]** We release the InternDataEngine codebase, which includes the core modules: InternData-A1, Nimbus, and InternData-M1.
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year={2025} year={2025}
} }
``` ```
<!--
```BibTeX
@misc{interndataengine2026,
title={InternDataEngine: A Synthetic Data Generation Engine for Robotic Learning},
author={InternDataEngine Contributors},
year={2026},
}
}
``` -->

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