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README.MD

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----
-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}
-}
-```