Abstract | We present the description and early results of the mJy Imaging VLBA Exploration at 20 cm (mJIVE-20). mJIVE-20 is a large project on the Very Long Baseline Array which is systematically inspecting a large sample of mJy radio sources, pre-selected from the Faint Images of the Radio Sky at Twenty cm (FIRST) survey made with the Very Large Array, to identify any compact emission that may be present. The survey is being undertaken using filler time on the VLBA, which utilizes short segments scheduled in bad weather and/or with a reduced number of antennas, during which no highly rated science projects can be scheduled. The newly available multifield capability of the VLBA makes it possible for us to inspect of the order of 100 sources per hour of observing time with a 6.75σ detection sensitivity of approximately 1 mJy beam-1. The results of the mJIVE-20 survey are made publicly available as soon as the data are calibrated. After 18 months of observing, over 20,000 FIRST sources have been inspected, with 4336 very long baseline interferometry detections. These initial results suggest that within the range 1-200 mJy, fainter sources are somewhat more likely to be dominated by a very compact component than brighter sources. Over half of all arcsecond-scale mJy radio sources contain a compact component, although the fraction of sources that are dominated by milliarcsecond scale structure (where the majority of the arcsecond scale flux is recovered in the mJIVE-20 image) is smaller at around 30%-35%, increasing toward lower flux densities. Significant differences are seen depending on the optical classification of the source. Radio sources with a stellar/point-like counterpart in the Sloan Digital Sky Survey (SDSS) are more likely to be detected overall, but this detection likelihood appears to be independent of the arcsecond-scale radio flux density. The trend toward higher radio compactness for fainter sources is confined to sources that are not detected in SDSS or that have counterparts classified as galaxies. These results are consistent with a unification model of active galactic nuclei in which less luminous sources have on average slower radio jets, with lower Doppler suppression of compact core emission over a wider range of viewing angles. |