G05 / README.md

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license: other
license_name: g05-community-license
license_link: LICENSE
language:
  - en
  - zh
library_name: pytorch
tags:
  - robotics
  - vision-language-action
  - real-world
  - manipulation
  - autoregressive
  - actioncodec
  - r1lite
  - r1pro
  - droid
  - libero
datasets:
  - OpenGalaxea/Galaxea-Open-World-Dataset

Galaxea G0.5 VLA Model

G0.5 is Galaxea's pretrained autoregressive vision-language-action model for general-purpose robot control. It conditions on multi-view RGB observations, an embodiment identifier, natural-language task instruction, and robot proprioceptive state, then generates reasoning tokens and action tokens in one unified autoregressive stream.

In this repo, you can find:

g05-base/checkpoints/model_state_dict.pt: G0.5 base checkpoint.
g05-libero/model.pt: G0.5 LIBERO checkpoint.
g05-droid/checkpoints/model_state_dict.pt: G0.5 DROID checkpoint.
g05-so101/checkpoints/model_state_dict.pt: G0.5 SO-100/101 checkpoint.
g05-robotwin20/checkpoints/model_state_dict.pt: G0.5 RoboTwin 2.0 checkpoint.
action_tokenizer.pt files: ActionCodec tokenizer weights for the corresponding checkpoints.
dataset_stats.json files: normalization statistics for the corresponding checkpoints when provided.

For code, configs, deployment scripts, and fine-tuning examples, please see the project repository:

https://github.com/OpenGalaxea/GalaxeaVLA

License

This repository contains materials released under different licenses depending on the commit date:

Apache-2.0 (Legacy): All content committed before 2026-01-04 is licensed under the Apache License 2.0. See G0 Community License Agreement
G0 PLUS Community License Agreement: All content committed on or after 2026-01-04 and before 2026-06-16 is licensed under the G0 PLUS Community License (Non-Commercial + Limited Patent License). See G0 Plus Community License Agreement.
G0.5 Community License Agreement: All content committed on or after 2026-06-16 is licensed under the G0.5 Community License (Non-Commercial + Limited Patent License). See G0.5 Community License Agreement. For avoidance of doubt, there are two licensing boundaries, each determined by the first commit that introduces the corresponding license switch:
Boundary 1 (Apache-2.0 / G0 PLUS): First commit under the G0 PLUS license (introducing the G0 PLUS license switch): 38b31e4
Boundary 2 (G0 PLUS / G0.5): First commit under the G0.5 license (introducing the G0.5 license switch): dc0a1ef In the event of any inconsistency between the date descriptions and the commit hashes, the commit hashes shall prevail.

Citation

If you use our dataset or models, please cite:

@article{galaxea2026g05,
  title={Galaxea G0.5 Technical Report},
  author={Galaxea Team},
  year={2026},
  url={https://opengalaxea.github.io/G05/Galaxea_G0_5.pdf}
}