Guides → Playground & Guide → Robot Training-Data / Teleoperation Cost - Price the Demonstration Corpus
Meet Priya Anand. Robotics ML lead scoping a VLA fine-tune. "GPUs are cheap and available - but what does it actually cost to collect the demonstrations my policy needs, and can synthetic data cut that bill?"
🔥 Data is the bottleneck for embodied AI, not compute; a VLA fine-tune needs 300-1,200 demos/task at $118-200/hr fully-loaded, and quality-filtering throws away 20-30% - none of it visible in any calculator.
Compute scaled; data did not. GPU clusters for billion-parameter VLAs are commercially available today - but the paired observation-action demonstrations those models need do not exist at internet scale. Human teleoperation is the highest-quality source, and it is expensive and slow.
This calculator prices that corpus. It sizes the demonstrations (tasks x demos/task), over-collects for quality-filter attrition, then adds collection labor, annotation, post-processing, rig amortization, and storage - reading the storage rate from the same resource-pricing SSOT behind aicost.ai's engines.
The sim-to-real lever is the story of 2026. Teams at CMU and Stanford independently found VLAs trained on 40% synthetic data matched 100% real on held-out tasks. Dial synthetic augmentation up to 40% and watch real collection - the dominant cost - fall.
Headline is the total data-program cost; the second hero is cost per usable demonstration. Two levers dominate: demos/task and the synthetic mix.
Here are the inputs that move the result the most. Play with the sliders and check it out. The number updates live.
Drag demos/task, teleop rate, and synthetic augmentation to see the total data-program cost. The full calculator adds tasks, discard, annotation, rig, and storage.
💡Demos/task sizes the corpus; teleop rate and throughput set collection labor; synthetic augmentation offsets real demos. The headline is the total program cost.
Open the full calculator. Pick a model, enter your tokens, see per-call, daily, monthly, and annual cost.
🚀 Open the full calculator →Price the demonstration corpus to train a robot policy: teleoperation collection, quality discard, annotation, post-processing, rig, and storage - with a sim-to-real synthetic lever. Total program cost and cost per usable demo.
Each input shapes the cost. Click an input on the calculator to set it. The explanations below match the live calculator field by field.
The gaps we just listed are real, and they are the expensive ones: your actual prompts, your switching cost, your MLOps overhead. An AICost expert spends the hour on your AI and cloud costs, not a generic playbook. You leave with a written report: the way forward, in 30 days of concrete steps.
Not sure yet? The $39 AICost Blueprint credits toward a Session, and the Session fee credits toward any plan. You never pay twice for the same ground. See all pricing →
You have seen the shape of it. Open the calculator with your model, your tokens, your volume.
🚀 Open the full calculator →Author: Subu Vdaygiri, Founder & CEO of CloudIntelligence.ai. 17 years Fortune 100 (Ingram Micro, Siemens). Wharton CTO program · Kellogg CPO program · 10× AWS+Azure certified.
Last-verified date is the most recent successful daily snapshot
(aicost_pricing_snapshots) or, when no snapshot exists yet,
the latest successful crawler run (aicost_crawler_runs).
10 of 10
vendors are currently verified. Aggregator services (TokenCost, AI Pricing Guru, etc.)
are not listed.
Derived from industry conventions, not directly published by the vendor. Typical conventions: cached input = 10% of base (90% off), Batch API = 50% of base (50% off).
| Vendor / Model | Field | Why it’s inferred |
|---|---|---|
| Anthropic — Claude Sonnet 4.6 | cachedInput |
Derived at 10% of input rate — Anthropic publishes 90% cache-hit discount on this tier. |
| Anthropic — Claude Sonnet 4.5 | cachedInput |
Derived at 10% of input rate; same 90% cache-hit convention as Sonnet 4.6. |
| Anthropic — Claude Sonnet 4.5 | batchInput |
Derived at 50% of standard input — Anthropic documents uniform 50% Batch discount. |
| Anthropic — Claude Sonnet 4.5 | batchOutput |
Derived at 50% of standard output — Anthropic documents uniform 50% Batch discount. |
| Anthropic — Claude Haiku 4.5 | cachedInput |
Derived at 10% of input rate — Anthropic 90% cache-hit discount convention. |
| OpenAI — GPT-5.4 Mini | cachedInput |
Derived at 10% of input — OpenAI documents automatic 90% discount on cache hits across GPT-5.x tier. |
| OpenAI — GPT-5.4 Nano | cachedInput |
Derived at 10% of input — OpenAI 90% cache-hit convention. |
| OpenAI — GPT-5.4 Nano | batchInput |
Derived at 50% of input — OpenAI Batch API uniform 50% discount. |
| OpenAI — GPT-5.4 Nano | batchOutput |
Derived at 50% of output — OpenAI Batch API uniform 50% discount. |
| OpenAI — GPT-5.4 Pro | cachedInput |
Derived at 10% of input — OpenAI 90% cache-hit convention. |
| OpenAI — GPT-5.4 Pro | batchInput |
Derived at 50% of input — OpenAI Batch API uniform 50% discount. |
| OpenAI — GPT-5.4 Pro | batchOutput |
Derived at 50% of output — OpenAI Batch API uniform 50% discount. |
| OpenAI — GPT-5.2 | cachedInput |
Derived at 10% of input; no residency uplift. |
| OpenAI — GPT-5.2 | batchInput |
Derived at 50% of input. |
| OpenAI — GPT-5.2 | batchOutput |
Derived at 50% of output. |
| OpenAI — GPT-5 | cachedInput |
Derived at 10% of input. |
| OpenAI — GPT-5 | batchInput |
Derived at 50% of input. |
| OpenAI — GPT-5 | batchOutput |
Derived at 50% of output. |
| OpenAI — GPT-5.5 Pro | cachedInput |
Derived at 10% of input — OpenAI does not publish a cached rate for *-pro models; using the family convention. |
| OpenAI — GPT-5.5 Pro | batchInput |
Derived at 50% of input. |
| OpenAI — GPT-5.5 Pro | batchOutput |
Derived at 50% of output. |
| OpenAI — GPT-5.2 Pro | cachedInput |
Derived at 10% of input — pro-tier convention. |
| OpenAI — GPT-5.2 Pro | batchInput |
Derived at 50% of input. |
| OpenAI — GPT-5.2 Pro | batchOutput |
Derived at 50% of output. |
| OpenAI — GPT-5.1 | batchInput |
Derived at 50% of input. |
| OpenAI — GPT-5.1 | batchOutput |
Derived at 50% of output. |
| OpenAI — GPT-5 Pro | batchInput |
Derived at 50% of input. |
| OpenAI — GPT-5 Pro | batchOutput |
Derived at 50% of output. |
| OpenAI — GPT-5 Nano | cachedInput |
Derived at 10% of input. |
| OpenAI — GPT-5 Nano | batchInput |
Derived at 50% of input. |
| OpenAI — GPT-5 Nano | batchOutput |
Derived at 50% of output. |
| Google — Gemini 3 Flash | cachedInput |
Derived at 10% of input — Google caching discount convention ~90%. |
| Google — Gemini 3.1 Flash-Lite | cachedInput |
Derived at 10% of input — Google caching convention. |
| Google — Gemini 3.1 Flash-Lite | batchInput |
Derived at 50% of input — Google Batch API uniform 50% discount. |
| Google — Gemini 3.1 Flash-Lite | batchOutput |
Derived at 50% of output — Google Batch API uniform 50% discount. |
| Google — Gemini 2.5 Pro | cachedInput |
Derived at 10% of input. |
| Google — Gemini 2.5 Flash | cachedInput |
Derived at 10% of input. |
| Google — Gemini 2.5 Flash-Lite | cachedInput |
Derived at 10% of input — Google caching convention. |
| Google — Gemini 2.5 Flash-Lite | batchInput |
Derived at 50% of input — Google Batch API uniform 50% discount. |
| Google — Gemini 2.5 Flash-Lite | batchOutput |
Derived at 50% of output — Google Batch API uniform 50% discount. |
| Google — Gemini 2.0 Flash | cachedInput |
Derived at 25% of input per Google 2.0 family caching rates. |
| Google — Gemini 2.0 Flash | batchInput |
Derived at 50% of input — Google Batch API uniform 50% discount. |
| Google — Gemini 2.0 Flash | batchOutput |
Derived at 50% of output — Google Batch API uniform 50% discount. |
| Google — Gemini 2.0 Flash-Lite | cachedInput |
Derived at 10% of input — Google caching convention. |
| Google — Gemini 2.0 Flash-Lite | batchInput |
Derived at 50% of input — Google Batch API uniform 50% discount. |
| Google — Gemini 2.0 Flash-Lite | batchOutput |
Derived at 50% of output — Google Batch API uniform 50% discount. |
| xAI — Grok 4 (legacy) | cachedInput |
Extrapolated at 25% of base. |
Pricing is cross-verified against the
LiteLLM community registry
when available. Daily snapshots are kept in aicost_pricing_snapshots;
every change is logged to aicost_price_changelog with old & new
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