Hugging Face's logo

SEU-PAISys
/
Embodied.cpp

Robotics
GGUF
English
embodied-ai
vision-language-action
world-action-model
cpp
inference
Model card Files
xet
 Community
Embodied.cpp
File size: 4,622 Bytes
700571f
3521906
 
 
 
 
 
 
 
 
 
 
 
 
700571f
3521906
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
---
language:
- en
tags:
- gguf
- robotics
- embodied-ai
- vision-language-action
- world-action-model
- cpp
- inference
library_name: gguf
pipeline_tag: robotics
license: other
---

# Embodied.cpp GGUF Models

This repository provides **GGUF model weights converted for use with [Embodied.cpp](https://arxiv.org/abs/2607.02501)**, a portable C++ inference runtime for embodied AI models on heterogeneous robots.

These files are **deployment-oriented conversions** of upstream checkpoints. They are intended for **inference with Embodied.cpp**, rather than for training or fine-tuning in the original Python stacks.

## About Embodied.cpp

**Embodied.cpp** is a portable inference runtime for embodied AI models, including Vision-Language-Action (VLA) models and World-Action Models (WAMs). It focuses on low-latency closed-loop deployment across heterogeneous hardware and robot systems.

Paper:
- **Embodied.cpp: A Portable Inference Runtime of Embodied AI Models on Heterogeneous Robots**
- arXiv: https://arxiv.org/abs/2607.02501

## What This Repository Contains

This repository hosts **GGUF-converted model artifacts** used by `embodied.cpp`.

The goal is to make upstream embodied model checkpoints easier to deploy from C++ with a unified runtime and serving interface.

## Conversion Provenance

The GGUF files in this repository are converted from upstream checkpoints using the conversion scripts in the `embodied.cpp` project.

### 1. pi0.5

Upstream checkpoint:
- https://huggingface.co/lerobot/pi05_libero_finetuned_v044

Conversion scripts:
- `scripts/convert_pi05_to_gguf.py`
- `scripts/convert_pi05_mmproj_to_gguf.py`

Notes:
- The converted artifacts are intended for `embodied.cpp` pi0.5 inference.
- pi0.5 uses separate GGUF exports for the main policy weights and the multimodal projector / vision-side component.

### 2. Hunyuan-VLA-0.5

Upstream checkpoint:
- https://huggingface.co/tencent/Hy-Embodied-0.5-VLA-RoboTwin

Conversion code:
- Conversion scripts are included in the `embodied.cpp` repository.

Notes:
- These GGUF files target `embodied.cpp` deployment of HY-VLA on RoboTwin-style evaluation and related runtime paths.

### 3. LingBot-VA

Upstream source:
- https://huggingface.co/datasets/robbyant/libero-long-lerobot

Conversion code:
- Conversion scripts are included in the `embodied.cpp` repository.

Notes:
- These GGUF artifacts are prepared for the LingBot-VA path in `embodied.cpp`.

## Intended Use

These GGUF files are intended for:

- Running embodied AI models with `embodied.cpp`
- C++ inference and server deployment
- Simulation and robotics evaluation pipelines supported by `embodied.cpp`

These files are **not** the original training checkpoints and may not be directly compatible with upstream Python inference code without the `embodied.cpp` runtime.

## Usage

Please use these weights with the corresponding `embodied.cpp` model server or evaluation pipeline.

Typical usage includes:

- `vla-pi05-server`
- `vla-hy-vla-server`
- `wam-lingbot-server`

Please refer to the `embodied.cpp` project repository and documentation for build instructions, model-specific runtime requirements, and evaluation examples.

## Roadmap

This repository will continue to be updated with GGUF releases for:

- **pi0.5**
- **Hunyuan-VLA-0.5**
- **LingBot-VA**

Additional `embodied.cpp`-compatible model exports may be added in the future.

## Attribution

All model credit belongs to the original upstream authors and maintainers.

Upstream sources referenced here:

- pi0.5 (LeRobot checkpoint): https://huggingface.co/lerobot/pi05_libero_finetuned_v044
- HY-VLA RoboTwin checkpoint: https://huggingface.co/tencent/Hy-Embodied-0.5-VLA-RoboTwin
- LingBot-VA related source dataset: https://huggingface.co/datasets/robbyant/libero-long-lerobot

## License and Restrictions

This repository contains converted deployment artifacts derived from upstream resources.

Please review and comply with the **original upstream licenses, model terms, and dataset restrictions** before use or redistribution.

Because different upstream sources may have different licenses or usage constraints, users are responsible for checking the original source pages.

## Citation

If you find these GGUF conversions or `embodied.cpp` useful, please cite:

```bibtex
@article{xu2026embodiedcpp,
  title={Embodied.cpp: A Portable Inference Runtime of Embodied AI Models on Heterogeneous Robots},
  author={Xu, Ling and Han, Chuyu and Li, Borui and Wu, Hao and Jiang, Shiqi and Cao, Ting and Li, Chuanyou and Zhong, Sheng and Wang, Shuai},
  journal={arXiv preprint arXiv:2607.02501},
  year={2026}
}