| --- |
| 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 |
|
|
| [](https://opengalaxea.github.io/G05/) |
| [](https://opengalaxea.github.io/G05/Galaxea_G0_5.pdf) |
| [](https://opengalaxea.github.io/G05/videos/introduction_g05.mp4) |
| [](https://huggingface.co/datasets/OpenGalaxea/Galaxea-Open-World-Dataset) |
|
|
| 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: |
|
|
| - [x] `g05-base/checkpoints/model_state_dict.pt`: G0.5 base checkpoint. |
| - [x] `g05-libero/model.pt`: G0.5 LIBERO checkpoint. |
| - [x] `g05-droid/checkpoints/model_state_dict.pt`: G0.5 DROID checkpoint. |
| - [x] `g05-so101/checkpoints/model_state_dict.pt`: G0.5 SO-100/101 checkpoint. |
| - [x] `g05-robotwin20/checkpoints/model_state_dict.pt`: G0.5 RoboTwin 2.0 checkpoint. |
| - [x] `action_tokenizer.pt` files: ActionCodec tokenizer weights for the corresponding checkpoints. |
| - [x] `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: |
|
|
| ```text |
| 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](licenses/LICENSE-G0) |
| - 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](licenses/LICENSE-G0Plus). |
| - 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](licenses/LICENSE-G0.5). |
| 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](https://github.com/OpenGalaxea/GalaxeaVLA/tree/38b31e4f732ef28719a5458a18e2836dd52f9d12) |
| - Boundary 2 (G0 PLUS / G0.5): First commit under the G0.5 license (introducing the G0.5 license switch): [dc0a1ef](https://github.com/OpenGalaxea/GalaxeaVLA/tree/dc0a1ef4531256adea4ee9f3d7d2fa44613cb866) |
| 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: |
|
|
| ```bibtex |
| @article{galaxea2026g05, |
| title={Galaxea G0.5 Technical Report}, |
| author={Galaxea Team}, |
| year={2026}, |
| url={https://opengalaxea.github.io/G05/Galaxea_G0_5.pdf} |
| } |
| ``` |
|
|
