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README.md

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 ---
-license: apache-2.0
+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}
+}