Instructions.md

#Instructions

sudo apt update sudo apt install curl vim tmux -y

Install Docker (Ubuntu)

curl -fsSL https://get.docker.com -o get-docker.sh sudo sh get-docker.sh

Post-Processing

sudo groupadd docker sudo usermod -aG docker $USER newgrp docker

Clone the repo

git clone --depth 1 --recurse-submodules https://github.com/shehiin/InternManip.git

Clone the baseimage from

docker pull crpi-mdum1jboc8276vb5.cn-beijing.personal.cr.aliyuncs.com/iros-challenge/internmanip:v1.0

Or Clone the base image we committed into the system

docker pull docker.io/r2d208/internmanip:v1

Or Clone the 18k trained image we committed from the hub

docker pull docker.io/r2d208/intern_18k:v1

Get the model weights:

cd InternManip mkdir data cd data mkdir model git clone https://huggingface.co/InternRobotics/Gr00t-n1-5_Genmanip_IROS model/

Get the dataset using

Check for python

python3 --version

If no python:

sudo apt update sudo apt install -y python3 python3-venv python3-pip

Check for pip

pip3 --version

If no pip:

curl -sS https://bootstrap.pypa.io/get-pip.py | sudo python3

install huggingface_hub

pip3 install huggingface_hub pip install huggingface_hub

huggingface-cli download InternRobotics/IROS-2025-Challenge-Manip
--repo-type dataset
--include "train_real/*"
--local-dir ./IROS-2025-Challenge-Manip

Run the container

Double check if the dataset and the model are present

docker run --name internmanip -it --rm --privileged --gpus all --network host -e "ACCEPT_EULA=Y" -e "PRIVACY_CONSENT=Y" -e "DISPLAY=${DISPLAY}" --entrypoint /bin/bash -w /root/InternManip -v /tmp/.X11-unix/:/tmp/.X11-unix -v ${PWD}:/root/InternManip -v ${HOME}/data:/root/InternManip/data/dataset -v ${HOME}/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw -v ${HOME}/docker/isaac-sim/cache/ov:/root/.cache/ov:rw -v ${HOME}/docker/isaac-sim/cache/pip:/root/.cache/pip:rw -v ${HOME}/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw -v ${HOME}/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw -v ${HOME}/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw -v ${HOME}/docker/isaac-sim/data:/root/.local/share/ov/data:rw -v ${HOME}/docker/isaac-sim/documents:/root/Documents:rw crpi-mdum1jboc8276vb5.cn-beijing.personal.cr.aliyuncs.com/iros-challenge/internmanip:v1.0

Inside the container run the following command to train the model