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[NeurIPS 2025] InternScenes: A Large-scale Interactive Indoor Scene Dataset with Realistic Layouts.
InternRobotics/InternScenes
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InternScenes comprises approximately40,000 diverse scenes and1.96M 3D objects that cover15 common scene types and288 object classes, which is roughly10 times larger than existing datasets.
Existing 3D scene datasets often suffer from:
- ❌ Limited diversity or simulatability
- ❌ Sanitized layouts lacking small items
- ❌ Severe object collisions
Accordingly, InternScenes integrates a wide variety of scenes, and particularly, preserves small items for complex layouts, resolve collisions, and further incorporates interactive objects, thus ensures:
- 📊Large scale: 40,000 diverse scenes including 1.96M 3D objects covering 288 object classes.
- 🚪Realistic layouts: preserving massive small objects to strictly align with real-world scanned scenes.
- 🕹️Interactivity: 20% interactive objects inside covering 16 common types, such as cabinets, microwaves, ovens, and fridges.
- ✅ 3D scene reconstruction
- ✅ 3D scene understanding
- ✅ Scene layout generation
- ✅ Embodied navigation
- Convenient and efficient scene rendering scripts;
- Detailed object semantic information;
- Unified format and coordinate system for scene layouts;
- Various trajectories for embodied navigation.
For the usage of our dataset, please refer tothe tutorials.
2025/07InternScenes-Real2Sim v1.0 released.
- 🏡 Introduction
- 💡 Highlights
- 🪄 News
- 📋 Table of Contents
- ⚙️ Getting Started
- 📖 Tutorial
- 📋 TODO List
- 🧷 Citation
- 📄License
- 🥰 Acknowledgements
- Clone this repository.
git https://github.com/InternRobotics/InternScenes.gitcd InternScenes- Create an environment and install basic dependencies.
conda create -n internscenes python=3.10 -y conda activate internscenespip install -r requirements.txt
- (optional) Install Isaac-Sim 4.1.0 for rendering *.usd files and convertion *.glb files.
# Make sure your conda environment is activated.pip install torch==2.4.0 --index-url https://download.pytorch.org/whl/cu118pip install isaacsim==4.1.0 isaacsim-extscache-physics==4.1.0 isaacsim-extscache-kit==4.1.0 isaacsim-extscache-kit-sdk==4.1.0 --extra-index-url https://pypi.nvidia.comPlease refer to theguide for downloading and organization.
InternScenes-Real2Sim/|-- Assets_library/# Assets library of scenes|-- objaverse/# 1. Objaverse assets library|-- hssd-models/# 2. HSSD assets library|-- 3D-FUTURE-model/# 3. 3D-FUTURE assets library|-- gr100/# 4. GRScenes-100 assets library|-- partNet-mobility/# 5. PartNet-Mobility assets library|-- gen-assets/# 6. Generated assets library|-- Layout_info/|-- scan_id/|-- StructureMesh/# 3D mesh of the floor and walls|-- wall.glb|-- layout.json# Layout json of the scene
The layout format is listed as follows:
[ {"id":1,"category":"chair","model_uid":"partnet_mobility/39551","bbox": [1.041122286614026,-1.2630096162069782,0.37856578639578786,0.42791932981359787,0.4573552539873118,0.7564487395312743,1.384006110201953,0.0,-0.0 ] },...]We provide a simple tutorialhere as a guideline for the visualization and basic usage of our dataset. Welcome to try and post your suggestions!
- Release the InternScenes-Real2Sim v1.0.
- Release trajectories for each scene and rendering scripts.
- Release the paper.
- Polish the codes of building the InternScenes-Real2Sim.
- Release the InternScenes-Real2Sim v2.0.
- Release the InternScenes-Synthetic v1.0.
- Polish the codes of building the InternScenes-Synthetic.
- Release the InternScenes-Synthetic v2.0.
@inproceedings{InternScenes,title={InternScenes: A Large-scale Interactive Indoor Scene Dataset with Realistic Layouts},author={Zhong, Weipeng and Cao, Peizhou and Jin, Yichen and Li, Luo and Cai, Wenzhe and Lin, Jingli and Lyu, Zhaoyang and Wang, Tai and Dai, Bo and Xu, Xudong and Pang, Jiangmiao},year={2025},booktitle={arXiv},}
This work is under theCreative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
- EmbodiedScan: The scenes we retrieve are based on the annotations from EmbodiedScan, which include a large number of 9-DoF bounding boxes for small objects.
- InternUtopia (Previously GRUtopia ): Some of the high-quality 3D asset files (*.usd) in this repository are sourced from here.
- Hunyuan3D-2.1: The textures for some of the 3D assets were generated using this model.
- HSSD: A curated selection of object assets from this project has been used to construct our asset library.
- PartNet-Mobility: A curated selection of object assets from this project has been used to construct our asset library.
- Objaverse: A curated selection of object assets from this project has been used to construct our asset library.
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[NeurIPS 2025] InternScenes: A Large-scale Interactive Indoor Scene Dataset with Realistic Layouts.
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