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.ptfiles: ActionCodec tokenizer weights for the corresponding checkpoints. -
dataset_stats.jsonfiles: 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}
}