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

TL;DR

InternVLA-A1 is a unified multimodal model that integrates understanding, prediction, and action for robotic manipulation, trained on diverse data sources, and outperforms prior models on real-world and simulated tasks.

Contribution

The paper introduces InternVLA-A1, a novel unified Mixture-of-Transformers architecture that combines semantic understanding, visual foresight, and action execution for robotics.

Findings

Outperforms prior models on real-world manipulation tasks.

Achieves +4.4% on static manipulation and +26.7% on dynamic tasks.

Effectively leverages diverse data sources to improve robustness.

Abstract

Prevalent Vision-Language-Action (VLA) models are typically built upon Multimodal Large Language Models (MLLMs) and demonstrate exceptional proficiency in semantic understanding, but they inherently lack the capability to deduce physical world dynamics. Consequently, recent approaches have shifted toward World Models, typically formulated via video prediction; however, these methods often suffer from a lack of semantic grounding and exhibit brittleness in the presence of video prediction errors. To synergize semantic understanding with dynamic predictive capabilities, we present InternVLA-A1. This model employs a unified Mixture-of-Transformers architecture, coordinating three experts for scene understanding, visual foresight generation, and action execution. These components interact seamlessly through a unified masked self attention mechanism. Building upon InternVL3 and Qwen3-VL, we instantiate InternVLA-A1 at 2B and 3B parameter scales. We pre-train these models on heterogeneous data sources over real-world robot data, synthetic simulation data, and human videos, covering over 692M frames. This hybrid training strategy effectively harnesses the diversity of synthetic simulation data while minimizing the sim-to-real gap. We evaluated InternVLA-A1 on 12 real-world robotic tasks and a simulation benchmark. The results show that InternVLA-A1 consistently outperforms prior leading models: compared with pi0.5, it achieves +4.4\% on static manipulation tasks and +2.6\% on the RoboTwin 2.0 simulation benchmark, and delivers a +26.7\% boost on dynamic manipulation tasks.