mlsanityData to 7 Oct 2026

InternData-A1: Pioneering High-Fidelity Synthetic Data for Pre-training Generalist Policy

arXiv 2511.16651 ↗First posted 20 Nov 2025cs.ROcited by 46

On the map: Vision-language-action models → Generalist VLA models and benchmarks

Abstract (arXiv)

Recent works explore how real and synthetic data contribute to Vision-Language-Action (VLA) models' generalization. While current VLA models have shown the strong effectiveness of large-scale real-robot pre-training, synthetic data has not previously demonstrated comparable capability at scale. This paper provides the first evidence that synthetic data alone can match the performance of the strongest π-dataset in pre-training a VLA model, revealing the substantial value of large-scale simulation. The resulting model also exhibits surprisingly zero-shot sim-to-real transfer on several challenging tasks. Our synthetic dataset, InternData-A1, contains over 630k trajectories and 7,433 hours across 4 embodiments, 18 skills, 70 tasks, and 227 scenes, covering rigid, articulated, deformable, and fluid-object manipulation. It is generated through a highly autonomous, fully decoupled, and compositional simulation pipeline that enables long-horizon skill composition, flexible task assembly, and heterogeneous embodiments with minimal manual tuning. Using the same architecture as π0, we pre-train a model entirely on InternData-A1 and find that it matches the official π0 across 49 simulation tasks, 5 real-world tasks, and 4 long-horizon dexterous tasks. We release the dataset and will open-source the generation pipeline to broaden access to large-scale robotic data and to lower the barrier to scalable data creation for embodied AI research.

Key facts. Cited by 46 papers in the map (data through 7 Oct 2026). Placed in Generalist VLA models and benchmarks, one of 13 directions in Vision-language-action models. Builds on 41 of its 44 references that are in the map. First posted on arXiv 20 Nov 2025.

Builds on

41 of 44 references.

Closest ancestors · 8

Same direction, newest first

  1. 2025X-VLA: Soft-Prompted Transformer as Scalable Cross-Embodiment Vision-Language-Action Model11 Oct
  2. 2025Galaxea Open-World Dataset and G0 Dual-System VLA Model30 Aug
  3. 2025GR-3 Technical Report21 Jul
  4. 2025OpenHelix: A Short Survey, Empirical Analysis, and Open-Source Dual-System VLA Model for Robotic Manipulation6 May
  5. 2025π0.5: a Vision-Language-Action Model with Open-World Generalization22 Apr
  6. 2024π0: A Vision-Language-Action Flow Model for General Robot Control31 Oct
  7. 2024OpenVLA: An Open-Source Vision-Language-Action Model13 Jun
  8. 2023RT-2: Vision-Language-Action Models Transfer Web Knowledge to Robotic Control28 Jul

Other references · 33

  1. 2022RT-1: Robotics Transformer for Real-World Control at Scalecited by 2,007
  2. 2022Objaverse: A Universe of Annotated 3D Objectscited by 1,522
  3. 2023LIBERO: Benchmarking Knowledge Transfer for Lifelong Robot Learningcited by 1,338
  4. 2025GR00T N1: An Open Foundation Model for Generalist Humanoid Robotscited by 1,167
  5. 2023Open X-Embodiment: Robotic Learning Datasets and RT-X Modelscited by 849
  6. 2024DROID: A Large-Scale In-The-Wild Robot Manipulation Datasetcited by 801
  7. 2024PaliGemma: A versatile 3B VLM for transfercited by 679
  8. 2019RLBench: The Robot Learning Benchmark & Learning Environmentcited by 669
  9. 2023BridgeData V2: A Dataset for Robot Learning at Scalecited by 634
  10. 2021CALVIN: A Benchmark for Language-Conditioned Policy Learning for Long-Horizon Robot Manipulation Taskscited by 564
  11. 2025RoboTwin 2.0: A Scalable Data Generator and Benchmark with Strong Domain Randomization for Robust Bimanual Robotic Manipulationcited by 477
  12. 2024RoboCasa: Large-Scale Simulation of Everyday Tasks for Generalist Robotscited by 391
21 more
  1. 2025AgiBot World Colosseo: A Large-scale Manipulation Platform for Scalable and Intelligent Embodied Systemscited by 390
  2. 2025UniVLA: Learning to Act Anywhere with Task-centric Latent Actionscited by 386
  3. 2023OmniObject3D: Large-Vocabulary 3D Object Dataset for Realistic Perception, Reconstruction and Generationcited by 324
  4. 2023ManiSkill2: A Unified Benchmark for Generalizable Manipulation Skillscited by 313
  5. 2023MimicGen: A Data Generation System for Scalable Robot Learning using Human Demonstrationscited by 308
  6. 2024GR-2: A Generative Video-Language-Action Model with Web-Scale Knowledge for Robot Manipulationcited by 290
  7. 2022AnyGrasp: Robust and Efficient Grasp Perception in Spatial and Temporal Domainscited by 205
  8. 2024RoboMIND: Benchmark on Multi-embodiment Intelligence Normative Data for Robot Manipulationcited by 166
  9. 2024Predictive Inverse Dynamics Models are Scalable Learners for Robotic Manipulationcited by 159
  10. 2022GAPartNet: Cross-Category Domain-Generalizable Object Perception and Manipulation via Generalizable and Actionable Partscited by 135
  11. 2025GraspVLA: a Grasping Foundation Model Pre-trained on Billion-scale Synthetic Action Datacited by 120
  12. 2025InternVLA-M1: A Spatially Guided Vision-Language-Action Framework for Generalist Robot Policycited by 83
  13. 2025InstructVLA: Vision-Language-Action Instruction Tuning from Understanding to Manipulationcited by 71
  14. 2024GRUtopia: Dream General Robots in a City at Scalecited by 54
  15. 2025Igniting VLMs toward the Embodied Spacecited by 53
  16. 2024GenSim2: Scaling Robot Data Generation with Multi-modal and Reasoning LLMscited by 48
  17. 2025EO-1: An Open Unified Embodied Foundation Model for General Robot Controlcited by 30
  18. 2025Infinite Mobility: Scalable High-Fidelity Synthesis of Articulated Objects via Procedural Generationcited by 17
  19. 2025Gripper Keypose and Object Pointflow as Interfaces for Bimanual Robotic Manipulationcited by 16
  20. 2025ArtVIP: Articulated Digital Assets of Visual Realism, Modular Interaction, and Physical Fidelity for Robot Learningcited by 14
  21. 2024Vertex Block Descentcited by 5

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2025: 2; 2026: 44.

46 papers.

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By area:

  1. 2026Causal World Modeling for Robot Controlcited by 289
  2. 2026Unified 4D World Action Modeling from Video Priors with Asynchronous Denoisingcited by 65
  3. 2026InternVLA-A1: Unifying Understanding, Generation and Action for Robotic Manipulationcited by 48
  4. 2026Qwen-RobotManip Technical Report: Alignment Unlocks Scale for Robotic Manipulation Foundation Modelscited by 47
  5. 2026Qwen-VLA: Unifying Vision-Language-Action Modeling across Tasks, Environments, and Robot Embodimentscited by 42
  6. 2026Rethinking Video Generation Model for the Embodied Worldcited by 30
  7. 2026Native Video-Action Pretraining for Generalizable Robot Controlcited by 30
  8. 2026ABot-M0.5: Unified Mobility-and-Manipulation World Action Modelcited by 28
  9. 2025StereoVLA: Enhancing Vision-Language-Action Models with Stereo Visioncited by 16
  10. 2026FutureVLA: Joint Visuomotor Prediction for Vision-Language-Action Modelcited by 14
  11. 2026RoboInter: A Holistic Intermediate Representation Suite Towards Robotic Manipulationcited by 12
  12. 2026Qwen-RobotWorld Technical Report: Unifying Embodied World Modeling through Language-Conditioned Video Generationcited by 12
34 more
  1. 2026LaMP: Learning Vision-Language-Action Policy with 3D Scene Flow as Latent Motion Priorcited by 11
  2. 2026RepWAM: World Action Modeling with Representation Visual-Action Tokenizerscited by 9
  3. 2026AffordanceVLA: A Vision-Language-Action Model Empowering Action Generation through Affordance-Aware Understandingcited by 8
  4. 2026Zero-WAM: In-Context World-Action Modeling from Human Videos for Open-Ended Task Generalizationcited by 8
  5. 2026Rethinking Visual-Language-Action Model Scaling: Alignment, Mixture, and Regularizationcited by 7
  6. 2026OSCAR: Omni-Embodiment Action-Conditioned World Model for Roboticscited by 6
  7. 2026ManiTwin: Scaling Data-Generation-Ready Digital Object Dataset to 100Kcited by 5
  8. 2026Embodied-R1.5: Evolving Physical Intelligence via Embodied Foundation Modelscited by 5
  9. 2026APT: Action Expert Pretraining Improves Instruction Generalization of Vision-Language-Action Policiescited by 5
  10. 2026RynnValue: Scaling Robotic Value Foundation Models with Temporal Distancecited by 5
  11. 2026Beyond Data Scaling: Representation-Centric Continued Pre-training for Vision-Language-Action Modelscited by 5
  12. 2026Human-Centric Transferable Tactile Pre-Training for Dexterous Robotic Manipulationcited by 4
  13. 2026Data Pyramid for Embodied Manipulation: A Surveycited by 4
  14. 2026LabVLA: Grounding Vision-Language-Action Models in Scientific Laboratoriescited by 3
  15. 2026Learning Transferable Dynamics Priors from Action to World Modelingcited by 3
  16. 2026DreamX-Phi 1.0: Action-Conditioned Video World Model for Robotic Manipulationcited by 3
  17. 2025TabletopGen: Tabletop Scene Generation and Interactive Simulation for Robotic Manipulationcited by 2
  18. 2026SynthVerse: A Large-Scale Diverse Synthetic Dataset for Point Trackingcited by 2
  19. 2026STABLE: Simulation-Ready Tabletop Layout Generation via a Semantics-Physics Dual Systemcited by 2
  20. 2026World Action Models Enable Continual Imitation Learning with Recurrent Generative Replayscited by 2
  21. 2026JoyAI-RA 0.5: Scaling Robot Manipulation Learning via Dual Action Alignmentcited by 2
  22. 2026EmbodiedSWE: Coding Agents for Long Horizon Dexterous Roboticscited by 2
  23. 2026ExpertGen: Scalable Sim-to-Real Expert Policy Learning from Imperfect Behavior Priorscited by 1
  24. 2026CoEnv: Driving Embodied Multi-Agent Collaboration via Compositional Environmentcited by 1
  25. 2026SIM1: Physics-Aligned Simulator as Zero-Shot Data Scaler in Deformable Worldscited by 1
  26. 2026Embody4D: A Generalist Data Engine for Embodied 4D World Modelingcited by 1
  27. 2026HumanoidMimicGen: Data Generation for Loco-Manipulation via Whole-Body Planningcited by 1
  28. 2026Closed Loop Dynamic Driving Data Mixture for Real-Synthetic Co-Trainingcited by 0
  29. 2026A Practical Recipe Towards Improving Sim-and-Real Correlation for VLA Evaluationcited by 0
  30. 2026One Policy, Many Embodiments: Unified Camera-Centric Action Geometry Pre-training for Heterogeneous Embodied Manipulationcited by 0
  31. 2026WLA3: World Latent Action Modeling for Semantics, Dynamics, and Kinematicscited by 0
  32. 2026SkillWeaver: Agentic Exploration over Neural Interaction Skills for Scalable Robot Data Generationcited by 0
  33. 2026UniWAM: Unified World-Action Modelcited by 0
  34. 2026Video Prediction Policy 2: Predict Better, Act Bettercited by 0

Similar, not cited

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  1. 2025GigaBrain-0: A World Model-Powered Vision-Language-Action Model
  2. 2026VLA-REPLICA: A Low-Cost, Reproducible Benchmark for Real-World Evaluation of Vision-Language-Action Models
  3. 2026Grounding Sim-to-Real Generalization in Robotic Manipulation: An Empirical Study with Vision-Language-Action Models
  4. 2026Vision-Language-Action in Robotics: A Survey of Datasets, Benchmarks, and Data Engines
  5. 2025REALM: A Real-to-Sim Validated Benchmark for Generalization in Robotic Manipulation
  6. 2025From Intention to Execution: Probing the Generalization Boundaries of Vision-Language-Action Models
  7. 2026Unleashing More Actions via Action Compositional Training for VLA Models
  8. 2026Colosseum V2: Benchmarking Generalization for Vision-Language-Action Models