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[Feature] Add training code for InternVLA-N1 - #184

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Tai-Wang merged 20 commits into
InternRobotics:devfrom
kellyiss:main
Dec 15, 2025
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[Feature] Add training code for InternVLA-N1#184
Tai-Wang merged 20 commits into
InternRobotics:devfrom
kellyiss:main

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@kellyisskellyiss commented Dec 4, 2025•
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✨ InternVLA-N1 Dual-System Variants

  1. Added training code for internvla-n1-w-navdp
  2. Added training code for internvla-n1-dualvln
  3. Both variants support full training/inference pipeline

📊 Extended Evaluation Support

  1. Support RXR evaluation
  2. Decouple System 2 and Dual System evaluation functions
  3. Released new models checkpoints
  4. Updated README download links, performance metrics and some content reorganizations.

yuqiang-yang
yuqiang-yang reviewed Dec 4, 2025
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Comment threadREADME.md Outdated
Comment threadREADME.md Outdated
Comment threadREADME.md
Comment threadREADME.md Outdated
Comment threadinternnav/dataset/internvla_n1_lerobot_dataset.py
Comment threadinternnav/evaluator/habitat_vln_evaluator.py Outdated
Comment threadinternnav/model/basemodel/internvla_n1/internvla_n1.py Outdated
Comment threadinternnav/model/basemodel/internvla_n1/internvla_n1.py
@Tai-WangTai-Wang changed the title [feat] Add training code for InternVLA-N1[Feature] Add training code for InternVLA-N1Dec 9, 2025
@kew6688
kew6688 changed the base branch from main to devDecember 10, 2025 06:11
@yuqiang-yangyuqiang-yang self-assigned this Dec 10, 2025
kew6688
kew6688 reviewed Dec 10, 2025
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Comment threadinternnav/dataset/internvla_n1_lerobot_dataset.py
kew6688
kew6688 reviewed Dec 10, 2025
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Comment threadscripts/eval/configs/h1_internvla_n1_async_cfg.py Outdated
Tai-Wang
Tai-Wang reviewed Dec 11, 2025
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Comment threadinternnav/agent/internvla_n1_agent.py Outdated
yuqiang-yang
yuqiang-yang reviewed Dec 11, 2025
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Comment threadscripts/eval/configs/h1_internvla_n1_async_cfg.py
Comment threadscripts/eval/configs/h1_rdp_cfg.py
Comment threadscripts/eval/configs/habitat_s2_cfg.py
Tai-Wang
Tai-Wang reviewed Dec 11, 2025
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Comment threadinternnav/model/basemodel/internvla_n1/internvla_n1.py Outdated
Tai-Wang
Tai-Wang reviewed Dec 12, 2025
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Comment threadscripts/eval/configs/habitat_dual_system_cfg.py Outdated
Tai-Wang
Tai-Wang reviewed Dec 12, 2025
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Comment threadinternnav/model/basemodel/internvla_n1/nextdit_traj.py Outdated
Tai-Wang
Tai-Wang reviewed Dec 12, 2025
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Comment threadinternnav/model/basemodel/internvla_n1/nextdit_traj.py Outdated
This was referenced Dec 15, 2025
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@Tai-Wang
Tai-Wang merged commit ea986f6 into InternRobotics:devDec 15, 2025
@kew6688kew6688 mentioned this pull request Dec 30, 2025
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Tai-Wang pushed a commit that referenced this pull request Jan 5, 2026
@kellyiss@kew6688@Tai-Wang
[Feature] Add training code for InternVLA-N1 (#184)
fb1d2a5
* [feat] Add training code for InternVLA-N1
* merge refactored evaluator with decoupled system2/dual_system eval
* update unused code; update setup.py and requirements for dtw
* update requirements
* update diffuser version
* test r2r, fix import utils
* update ndtw json path
* test rxr
* fix internvla_n1_policy with new model updates; remove use_async flag in generate_traj
* update README.md
* fix some typos
* Minor code cleanup
* remove unused code
* rename dataset
* reorganize trainer structure
* fix a bug in reorganization
---------
Co-authored-by: wangyukai <kewa990809@gmail.com>
Co-authored-by: Yukai Wang <58201273+kew6688@users.noreply.github.com>
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