---
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
```