上海人工智能实验室 InternRobotics
InternVLA-A1.5
2.69B Non-commercial 8/8 verified
Facts
- Released
- 2026-07 1 Source
- Parameters
- 2.69 B 1 Source
- Architecture
- VLM + action expert 0 Source
- License
- CC BY-NC-SA 4.0（代码仓库与模型卡一致） 2 Source
- Commercial
- Non-commercial 0 Source
- Weights
- huggingface.co ↗ 1 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 0 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 关节 / 末端（动作专家） 0 Source
- Cross-embodiment
- InternData-A1 + LeRobot v2.1 数据；RoboTwin 2.0 / LIBERO / SimplerEnv / DOMINO 1 Source
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm · Dual arm 0 Source
Architecture · Qwen3.5-2B 原生 VLM + 轻量统一动作专家；base / RoboTwin / LIBERO / DOMINO 四个权重
Sources · 2 sources
license,arch_notes,cross_embodiment,code_url https://github.com/InternRobotics/InternVLA-A1 Official page · Fetched 2026-09-05 · No snapshot stored yet README：CC BY-NC-SA 4.0；Qwen3.5-2B backbone + lightweight unified action expert；InternData-A1；RoboTwin 2.0 / LIBERO / SimplerEnv / DOMINO
params_b,weights_url,license,release_date https://huggingface.co/api/models/InternRobotics/InternVLA-A1.5-base Model hub page · Fetched 2026-09-05 · No snapshot stored yet safetensors 2,685,264,547；license: cc-by-nc-sa-4.0；createdAt 2026-07-04；base Qwen/Qwen3.5-2B
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-05
Sources fetched
license,arch_notes,cross_embodiment,code_url · params_b,weights_url,license,release_date
Latency & cost
cost = p50 ms ÷ 1000 × rental ÷ 3600 × 1000
| Hardware | p50 ms | p95 ms | Peak VRAM | Cost per 1k inferences ¥ | samples |
|---|---|---|---|---|---|
NVIDIA RTX 4090 ¥1.68/h · 共绩算力 (2026) | — | — | — | — no latency data | No data |
NVIDIA RTX 5090 ¥2.4/h · 润云 2.4 / 共绩 2.5 / 并行智算云 2.98 (2026) | — | — | — | — no latency data | No data |
NVIDIA A100 80GB no rental price | — | — | — | — no latency data | No data |
NVIDIA Jetson AGX Thor no rental price | — | — | — | — no latency data | No data |
NVIDIA H100 80GB no rental price | — | — | — | — no latency data | No data |
No latency measurements for this model yet · Data comes from literature, maintainer runs, or crowd CLI uploads. None exist so far.
Compatibility
Colored only where we hold evidence. An amber dot means the vendor declares this form as a target; that is a claim, not a verified compatibility.
| Unitree G1 | Unitree H1 | 智元 精灵 G1 | 松灵 Piper 机械臂 | SO-101 | Franka FR3 / Panda | Fourier GR-2 | WidowX 250 S | Google Robot（Everyday Robots） | ALOHA 2 / Cobot Magic（双臂） | Galaxea R1 Pro | Franka Emika Panda | |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
| InternVLA-A1.5 |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 4 / 12 cells with a definite status
Clear direction, grounded judgement.