---
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}
}