Being-H0.5 Base — LeRobot conversion
This is a deterministic LeRobot-format conversion of
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:
pip install -e ".[being_h05]"
No author-source checkout or PYTHONPATH change is required. Load the
checkpoint as a standard LeRobot policy:
lerobot-eval --policy.path=lerobot/being_h05_base