Embodied · vla · vla.policy_rollout · robot_policy · cross_embodiment_policy

Being-H0.5

BeingBeyond

WorldFoundry keeps the inference-only Being-H0.5 architecture and policy runtime directly under worldfoundry/synthesis/action_generation/being_h05.

Runner verified独立环境being-h05

构建运行命令

选择仓库中已记录的 variant，然后复制对应的准备、检查或运行命令。

worldfoundry.pipeline

Variant

任务vla.policy_rollout

环境worldfoundry-being-h05

设备Cu118 Or Newer

worldfoundry-eval evaluate \
  --mode model \
  --model-id being-h05-2b \
  --model-runner worldfoundry:pipeline \
  --model-manifest-dir worldfoundry/data/models/catalog \
  --requests-path tmp/requests.jsonl \
  --output-dir tmp/model_eval/being-h05-2b \
  --metric artifact_count \
  --json

兼容性与版本

由 Manifest 生成

集成状态: integrated
Runner 证据: verified
环境: worldfoundry-being-h05
Python: 3.10
CUDA: Cu118 Or Newer
PyTorch: torch
源码 revision: —
Checkpoint revision: —

Runtime profile: being-h05
Pipeline binding: being-h05
Runner: worldfoundry.pipeline
Pipeline target: worldfoundry.pipelines.component_pipelines:BeingH05Pipeline
Backend stage: in_tree_runtime
Runtime 状态: in_tree_being_h05_libero_get_action_gpu_ready_efficient_sdpa
Driver 状态: checkpoint_runtime_ready_memory_depends_on_variant
环境类型: 独立环境

安装环境

环境解析器会读取已记录 profile，并选择此处显示的统一或独立环境。

bash scripts/setup/model_env_install.sh --model being-h05-2b

依赖版本约束 11

numpy
Pillow
torch
torchvision
timm
numpydantic
pipablepytorch3d
safetensors
transformers
einops
pydantic>=2

Conda 依赖 2

python
pip

Checkpoint 与资产

分配算力前先做本地检查；gated、private 与 license 字段直接来自 checkpoint manifest。

worldfoundry-eval zoo model-download --model-id being-h05 --check-local --json

BeingBeyond/Being-H05-2B

Revision: —
License: —
Gated: —
Private: —

BeingBeyond/Being-H05-2B_libero

Revision: —
License: —
Gated: —
Private: —

BeingBeyond/Being-H05-2B_robocasa

Revision: —
License: —
Gated: —
Private: —

BeingBeyond/Being-H05-2B_libero_robocasa

Revision: —
License: —
Gated: —
Private: —

运行与输出

生成的命令通过共享 evaluation 边界运行，并持久保存结果 manifest 与 artifact。

worldfoundry-eval evaluate \
  --mode model \
  --model-id being-h05-2b \
  --model-runner worldfoundry:pipeline \
  --model-manifest-dir worldfoundry/data/models/catalog \
  --requests-path tmp/requests.jsonl \
  --output-dir tmp/model_eval/being-h05-2b \
  --metric artifact_count \
  --json

输入契约

字段	已记录契约
`actions`	robot_action, action_unified, proprio, action_space
`data_config_name`	libero_nonorm
`dataset_name`	libero_posttrain
`embodiment_tag`	libero
`image`	Required
`instruction`	Required
`prompt`	Required
`state`	Required
`video`	Optional

Artifact 契约

Artifact 类型	文件名 / 路径
`action_trace`	`—`
`action_trace`	`being_h05_action_trace.json`

证据与来源

Catalog 集成、原生 demo parity 与 runner parity 是三条独立记录。

集成状态: integrated
Runner 证据: verified
原生 Demo 证据: 未记录
验证 Imports: numpy, PIL, torch, torchvision, transformers, safetensors, pytorch3d.transforms

配方溯源

worldfoundry/data/models/catalog/vla_va_wam/being-h05.yamlGitHubhttps://github.com/BeingBeyond/Being-HHugging Facehttps://huggingface.co/BeingBeyond/Being-H05-2BHugging Facehttps://huggingface.co/BeingBeyond/Being-H05-2B_liberoHugging Facehttps://huggingface.co/BeingBeyond/Being-H05-2B_robocasaHugging Facehttps://huggingface.co/BeingBeyond/Being-H05-2B_libero_robocasa

构建运行命令

输入契约

Artifact 契约

相关配方