---
license: other
license_name: g05-community-license
license_link: LICENSE
language:
- en
- zh
library_name: pytorch
tags:
- robotics
- vision-language-action
- real-world
- manipulation
- autoregressive
- actioncodec
- r1lite
- r1pro
- droid
- libero
datasets:
- OpenGalaxea/Galaxea-Open-World-Dataset
---

# Galaxea G0.5 VLA Model

[![Project Page](https://img.shields.io/badge/Project%20Page-000000?style=for-the-badge&logo=github)](https://opengalaxea.github.io/G05/)
[![Paper](https://img.shields.io/badge/Paper-8A2BE2?style=for-the-badge&logo=arxiv)](https://opengalaxea.github.io/G05/Galaxea_G0_5.pdf)
[![Videos](https://img.shields.io/badge/Videos-FF0000?style=for-the-badge&logo=youtube)](https://opengalaxea.github.io/G05/videos/introduction_g05.mp4)
[![Dataset](https://img.shields.io/badge/Dataset-FF6B35?style=for-the-badge&logo=huggingface)](https://huggingface.co/datasets/OpenGalaxea/Galaxea-Open-World-Dataset)

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:

- [x] `g05-base/checkpoints/model_state_dict.pt`: G0.5 base checkpoint.
- [x] `g05-libero/model.pt`: G0.5 LIBERO checkpoint.
- [x] `g05-droid/checkpoints/model_state_dict.pt`: G0.5 DROID checkpoint.
- [x] `g05-so101/checkpoints/model_state_dict.pt`: G0.5 SO-100/101 checkpoint.
- [x] `g05-robotwin20/checkpoints/model_state_dict.pt`: G0.5 RoboTwin 2.0 checkpoint. 
- [x] `action_tokenizer.pt` files: ActionCodec tokenizer weights for the corresponding checkpoints.
- [x] `dataset_stats.json` files: normalization statistics for the corresponding checkpoints when provided.

For code, configs, deployment scripts, and fine-tuning examples, please see the project repository:

```text
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](licenses/LICENSE-G0)
- 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](licenses/LICENSE-G0Plus).
- 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](licenses/LICENSE-G0.5).
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](https://github.com/OpenGalaxea/GalaxeaVLA/tree/38b31e4f732ef28719a5458a18e2836dd52f9d12)
- Boundary 2 (G0 PLUS / G0.5): First commit under the G0.5 license (introducing the G0.5 license switch): [dc0a1ef](https://github.com/OpenGalaxea/GalaxeaVLA/tree/dc0a1ef4531256adea4ee9f3d7d2fa44613cb866)
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:

```bibtex
@article{galaxea2026g05,
  title={Galaxea G0.5 Technical Report},
  author={Galaxea Team},
  year={2026},
  url={https://opengalaxea.github.io/G05/Galaxea_G0_5.pdf}
}
```