Being-H0.5 RoboCasa — LeRobot conversion
This is a deterministic LeRobot-format conversion of
BeingBeyond/Being-H05-2B_robocasa.
It contains the policy configuration, serialized preprocessor and
postprocessor pipelines, tokenizer, conversion report, and safetensors
weights.
Revisions
- Author source:
ab1204954cb5e68f0bc52a376982e962c763bbbe - Source checkpoint:
75989b121eab7d0a8e421d846acf268c2938883d - 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
- Native Qwen3-MoT, flow training, four-step sampling, and active MPG refinement match the author implementation bitwise in CUDA BF16
- SHA-256:
bbe5c8d264e705296851b846e625e936fb1bf05f92b39d311777cb59d0e57aa1 - Author-vs-LeRobot model forward pass at batch sizes 1 and 2: maximum
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 through the standard LeRobot policy interface after providing the
required named state fields:
--policy.path=lerobot/being_h05_robocasa