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README.md

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----
-license: cc-by-nc-sa-4.0
----
+---
+license: cc-by-nc-sa-4.0
+base_model:
+- Qwen/Qwen3-VL-2B-Instruct
+tags:
+- robotics
+- vision-language-action-model
+library_name: transformers
+---
+
+# 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://internrobotics.github.io/internvla-a1.github.io/paper/InternVLA_A1.pdf)
+[![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
+
+Architecturally, InternVLA-A1 employs a Mixture-of-Transformers (MoT) design to unify semantic un-
+derstanding, visual foresight, and action prediction, effectively synergizing high-level reasoning with
+low-level dynamics.
+<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>
+
+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>
+
+## 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>
+
+## Usage
+Please refer to our official repo [InternVLA-A1](https://github.com/InternRobotics/InternVLA-A1).
+
+## 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
+@misc{contributors2026internvla_a1,
+  title={InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulation},
+  author={InternVLA-A1 contributors},
+  year={2026}
+}
+```