Teaser Image

InternScenes: A Large-scale Interactive Indoor Scene Dataset with Realistic Layouts

✶ Equal Contribution, † Corresponding Author

📋 Abstract

The advancement of Embodied AI heavily relies on large-scale, interactive 3D scene datasets characterized by scene diversity and realistic layouts. However, existing datasets typically suffer from limitations in diversity or simulatability, sanitized layouts lacking small items, and severe object collisions. To address these shortcomings, we introduce InternScenes, a novel large-scale interactive indoor scene dataset comprising approximately 40,000 diverse scenes by integrating three disparate scene sources — real-world scans, procedurally generated scenes, and designer-created scenes. It includes 1.96M objects and 800k CAD models that cover 15 common scene types and 288 object classes, resulting in complex layouts with an average of 41.5 objects per region — the highest to date. Our comprehensive data processing pipeline ensures simulatability by creating real-to-sim replicas for real-world scans, achieves realistic layouts by preserving small items, and enhances interactivity by incorporating interactive objects and resolving collisions. We demonstrate the value of InternScenes through two benchmark applications: scene layout generation and point-goal navigation. Both highlight the new challenges posed by the complex and realistic layouts. More importantly, InternScenes paves the way for scaling up model training for both tasks, enabling generation and navigation in such complex environments.

Teaser Image

🏘️ InternScenes-Real2Sim

Dataset Overview

Pipeline for retrieving synthetic scenes from real scan scenes.

🎮 InternScenes-Synthetic

Dataset Overview

Pipeline for annotating and processing raw scenes to extract precise layout information.

🌠 Samples

Comprehensive 3D Assets (*.usd and *.glb) with Canonical Poses and Semantic Labels

🔎 All 3D CAD models have been carefully annotated manually

Bed

Bulky Item

Bookshelf

Bulky Item

Chair

Bulky Item

Couch

Bulky Item

Desk

Bulky Item

Refrigerator

Bulky Item

Electric Cooker

Medium Item

Microwave

Medium Item

Oven

Medium Item

Pan

Medium Item

Pot

Medium Item

Lamp

Medium Item

Clock

Small Item

Clothes

Small Item

Cup

Small Item

Fan

Small Item

Pillow

Small Item

Phone

Small Item

Keyboard

Small Item

Mouse

Small Item

Laptop

Small Item

Tray

Small Item

Shoe

Small Item

Toy

Small Item

Retrieving from Real Scans to Synthetic Scenes

(Drag the slider below to rotate the scene)

🌗 Real2Sim Comparison

BibTeX

@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},
}