| --- |
| license: apache-2.0 |
| library_name: lerobot |
| pipeline_tag: robotics |
| tags: |
| - lerobot |
| - robotics |
| - vision-language-action |
| - being-h05 |
| base_model: BeingBeyond/Being-H05-2B |
| --- |
| |
| # Being-H0.5 Base — LeRobot conversion |
|
|
| This is a deterministic LeRobot-format conversion of |
| [`BeingBeyond/Being-H05-2B`](https://huggingface.co/BeingBeyond/Being-H05-2B). |
| It contains the policy configuration, serialized preprocessor and |
| postprocessor pipelines, tokenizer, conversion report, and safetensors |
| weights. |
|
|
| ## Revisions |
|
|
| - Author source: `ab1204954cb5e68f0bc52a376982e962c763bbbe` |
| - Source checkpoint: `bb31ffcf7d67a8d5ec82d715d5e1678581ef6374` |
| - LeRobot integration: `27152836dab56f5e6b1cecd3fa62f45bbd4e274d` |
|
|
| ## Validation |
|
|
| - 990 source tensors mapped to 1,086 native-layout tensors |
| - Native LeRobot policy using Transformers Qwen3 primitives and |
| `InternVLVisionModel` |
| - 0 missing, unexpected, duplicate, or shape-mismatched tensors |
| - Strict offline save/reload passed |
| - Strict native-policy reload on an RTX 5090 passed |
| - SHA-256: `aa0bebd77092dfe9e53afec8e0b25e07f3b9175c45bc795e3851dad1dedff530` |
| - Author-vs-LeRobot fixed-noise flow velocity/loss and sampled action at batch |
| sizes 1 and 2: maximum and p99 absolute error `0` |
|
|
| The checkpoint preserves Being-H0.5's fixed semantic 200D state/action slots, |
| validity masks, three-camera processing, raw task string, and four-step |
| flow-matching sampler. It consumes the named state and action fields from the |
| released model contract; an environment-specific vector adapter is not |
| included. |
|
|
| ## Usage |
|
|
| Install LeRobot with the Being-H0.5 extra: |
|
|
| ```bash |
| pip install -e ".[being_h05]" |
| ``` |
|
|
| No author-source checkout or `PYTHONPATH` change is required. Load the |
| checkpoint as a standard LeRobot policy: |
|
|
| ```bash |
| lerobot-eval --policy.path=lerobot/being_h05_base |
| ``` |
|
|
