---
license: apache-2.0
datasets:
- Cognition2ActionLab/eai_real_world
language:
- en
base_model:
- Qwen/Qwen3-VL-2B-Instruct
pipeline_tag: robotics
tags:
- VLA
- Robotics
- Humanoid
---
# HEX Model Checkpoint

This repository hosts the pretrained checkpoint of [**HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation**](https://arxiv.org/abs/2604.07993).

**HEX** is a humanoid whole-body Vision-Language-Action model for cross-embodiment manipulation. The released checkpoint contains the pretrained model weights and configuration files required for model inference.


## Repository Contents

| Model | Params | Description |
|:-----:|:------:|:------------|
| HEX | 2.4B | Pretrained HEX checkpoint for humanoid whole-body manipulation |


This repository contains the pretrained HEX checkpoint files, including model weights and the corresponding configuration files.


## Download

Please follow the instructions in the [HEX GitHub repository](https://github.com/Cognition2Action-Lab/HEX) to download and use the checkpoint.

You may also download the checkpoint directly with the Hugging Face CLI:

```bash
huggingface-cli download Cognition2ActionLab/HEX-model \
  --local-dir /path/to/save/HEX-model
```

Or with Python:

```python
from huggingface_hub import snapshot_download

snapshot_download(
    repo_id="Cognition2ActionLab/HEX-model",
    repo_type="model",
    local_dir="/path/to/save/HEX-model",
)
```

## Base Model Requirement

HEX uses [**Qwen3-VL**](https://huggingface.co/Qwen/Qwen3-VL-2B-Instruct) as the base vision-language model. Please download the Qwen3-VL model separately before running inference.



## Dataset

The processed HEX dataset is hosted in [Cognition2ActionLab/eai_real_world](https://huggingface.co/datasets/Cognition2ActionLab/eai_real_world).


## License

This checkpoint is released under the Apache-2.0 License.

## Citation

If you use this checkpoint, please cite our work:

```bibtex
@article{bai2026hex,
  title={HEX: Humanoid-Aligned Experts for Cross-Embodiment Whole-Body Manipulation},
  author={Bai, Shuanghao and Li, Meng and Lv, Xinyuan and Wang, Jiawei and Wang, Xinhua and Liao, Fei and Hou, Chengkai and Gu, Langzhe and Zhou, Wanqi and Wu, Kun and others},
  journal={arXiv preprint arXiv:2604.07993},
  year={2026}
}
```