README.md

---
license: cc-by-nc-sa-4.0
base_model:
- Qwen/Qwen3-VL-2B-Instruct
tags:
- robotics
- vision-language-action-model
datasets:
- InternRobotics/InternData-A1
---

# InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulation

<div style="display: flex; justify-content: center; align-items: center; margin: 20px 0;">
    <img src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/teaser_InternVLA-A1.jpg" alt="Teaser Image" style="max-width: 100%; border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
</div>

[![Paper](https://img.shields.io/badge/Paper-arXiv-red.svg)](https://arxiv.org/pdf/2601.02456)
[![Code](https://img.shields.io/badge/GitHub-Code-800820?logo=github)](https://github.com/InternRobotics/InternVLA-A1)
[![Data](https://img.shields.io/badge/Data-HuggingFace-blue?logo=huggingface)](https://huggingface.co/datasets/InternRobotics/InternData-A1)
[![Website](https://img.shields.io/badge/Website-Pages-blue.svg)](https://internrobotics.github.io/internvla-a1.github.io/)


<strong>InternVLA-A1</strong>  integrates understanding, generation, and action experts into a unified
model, which synergizes MLLMs' semantic reasoning with world-model-style dynamics prediction to guide action execution.

Building upon InternVL3 and Qwen3-VL, we instantiate InternVLA-A1 at 2B and 3B parameter scales. Covering different model scales and pre-training data configurations, we release the InternVLA-A1 series:

- [x]  [InternVLA-A1-3B](https://huggingface.co/InternRobotics/InternVLA-A1-3B): pretrained on the large-scale, high-fidelity simulation data [InternData-A1](https://huggingface.co/datasets/InternRobotics/InternData-A1), together with open-source robot data (e.g. Agibot-World)
- [ ] [InternVLA-A1-3B-Pretrain-InternData-A1](https://huggingface.co/InternRobotics/InternVLA-A1-3B-Pretrain-InternData-A1): pretrained on InternData-A1 only
- [ ] [InternVLA-A1-2B-Pretrain-InternData-A1](https://huggingface.co/InternRobotics/InternVLA-A1-2B-Pretrain-InternData-A1): pretrained on InternData-A1 only

## 🔑 Key Features

Regarding model architecture, InternVLA-A1 employs a Mixture-of-Transformers (MoT) design to unifies scene understanding, visual foresight, and action execution into a single framework.
It synergizes MLLM's semantic understanding with world-model-style dynamic prediction, to "imagine" the future and guide adaptive actions.
<div style="display: flex; justify-content: center; align-items: center; margin: 20px 0;">
    <img src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/method_InternVLA-A1.png" alt="Teaser Image" style="max-width: 100%; border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
</div>

Regarding training data, We pre-train InternVLA-A1 on hybrid synthetic-real datasets spanning InternData-A1 and open-source real-world data (e.g. Agibot-World). Our hybrid synthetic-real pre-training strategy combines
the scene diversity of simulation with the physical fidelity of real-world data.
<div style="display: flex; justify-content: center; align-items: center; margin: 20px 0;">
    <img src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/data_paramid.jpg" alt="Teaser Image" style="max-width: 100%; border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
</div>

## Usage
Please refer to our official repo [InternVLA-A1](https://github.com/InternRobotics/InternVLA-A1).

## Demonstrations
### ⚡  Dynamic Manipulation
<div style="display: flex; flex-direction: column; align-items: center; gap: 10px;">
    <!-- First Row -->
    <div style="display: flex; justify-content: center; align-items: center; gap: 10px;">
        <video controls autoplay loop muted width="250" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/express_sorting_complete.mp4" type="video/mp4">
        </video>
        <video controls autoplay loop muted width="250" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/In-motion_Ingredient_Picking_4x.mp4" type="video/mp4">
        </video>
    </div>
    <!-- Second Row -->
    <div style="display: flex; justify-content: center; align-items: center; gap: 10px;">
        <video controls autoplay loop muted width="250" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/express_sorting_upright_3.mp4" type="video/mp4">
        </video>
        <video controls autoplay loop muted width="250" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/express_sorting_inverted_2.mp4" type="video/mp4">
        </video>
    </div>
    <!-- Third Row -->
    <div style="display: flex; justify-content: center; align-items: center; gap: 10px;">
        <video controls autoplay loop muted width="250" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/express_sorting_upright_2.mp4" type="video/mp4">
        </video>
        <video controls autoplay loop muted width="250" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/express_sorting_upright_1.mp4" type="video/mp4">
        </video>
    </div>
    <p><em>InternVLA-A1 exhibits exceptional robustness in highly dynamic scenarios.</em></p>
</div>


### 🤖 Daily tasks

<div style="display: flex; flex-direction: column; align-items: center; gap: 10px;">
    <!-- First Row -->
    <div style="display: flex; justify-content: center; align-items: center; gap: 10px;">
        <video controls autoplay loop muted width="200" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/zig_bag_4x.mp4" type="video/mp4">
        </video>
        <video controls autoplay loop muted width="200" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/sort_parts_4x.mp4" type="video/mp4">
        </video>
        <video controls autoplay loop muted width="210" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/unscrew_cap_4x.mp4" type="video/mp4">
        </video>
    </div>
    <!-- Second Row -->
    <div style="display: flex; justify-content: center; align-items: center; gap: 10px;">
        <video controls autoplay loop muted width="200" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/wipe_stain_4x.mp4" type="video/mp4">
        </video>
        <video controls autoplay loop muted width="210" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/place_flower_4x.mp4" type="video/mp4">
        </video>
        <video controls autoplay loop muted width="200" style="border-radius: 10px; box-shadow: 0 4px 8px rgba(0, 0, 0, 0.1);">
            <source src="https://huggingface.co/spaces/Jia-Zeng/InternVLA_A1_Media/resolve/main/sweep_trash_4x.mp4" type="video/mp4">
        </video>
    </div>
    <p><em>InternVLA-A1 also demonstrates superior proficiency in dexterous and fine-grained manipulation.</em></p>
</div>

## License and Citation
All the code within this repo are under [CC BY-NC-SA 4.0](https://creativecommons.org/licenses/by-nc-sa/4.0/). Please consider citing our project if it helps your research.

```BibTeX
@article{contributors2026internvla_a1,
  title={InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulation},
  author={InternVLA-A1 contributors},
  journal={arXiv preprint arXiv:2601.02456},
  year={2026}
}
```

## Acknowledgments

- [Lerobot](https://github.com/huggingface/lerobot)
- [openpi](https://github.com/Physical-Intelligence/openpi)
- [InternVL](https://github.com/OpenGVLab/InternVL)
- [Qwen3-VL](https://github.com/QwenLM/Qwen3-VL)
- [COSMOS](https://github.com/nvidia-cosmos)