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🚀 Galaxea 开放世界数据集与 G0 双系统 VLA 模型
G0-VLA 架构与训练流程：第一阶段以自回归方式在跨具身数据上预训练视觉-语言模型。第二阶段和后训练共享相同的模型结构，在 Galaxea 开放世界数据上进行训练，使用具身特定视角以及高层任务和子任务指令，通过流匹配损失监督 Action Transformer 的动作重建。
在本仓库中，您可以找到：
- [x] G0_3B_base.pt：第二阶段预训练后的模型权重
- [x] G0_3B_base_dataset_statistics：预训练所用数据集的统计信息
📜 引用
本仓库中的所有数据和代码均遵循 CC BY-NC-SA 4.0 协议。如果您使用我们的数据集或模型，请引用：
@article{galaxea2025,
title={Galaxea G0: Open-World Dataset and Dual-System VLA Model},
author={Galaxea Team},
journal={arXiv preprint arXiv:2509.00576},
year={2025}
}
OpenGalaxea/G0-VLA
作者 OpenGalaxea
robotics
↓ 0
♥ 9
创建时间: 2025-09-09 06:02:47+00:00
更新时间: 2026-02-13 04:42:41+00:00
在 Hugging Face 上查看文件 (1464)
.gitattributes
G0Plus_3B_Base_260202/config.yaml
G0Plus_3B_Base_260202/dataset_stats.json
G0Plus_3B_Base_260202/model.pt
G0Plus_3B_Fold/config.yaml
G0Plus_3B_Fold/dataset_stats.json
G0Plus_3B_Fold/efmnode.toml
G0Plus_3B_Fold/model_state_dict.pt
G0Plus_3B_base/.hydra/config.yaml
G0Plus_3B_base/.hydra/hydra.yaml
G0Plus_3B_base/.hydra/overrides.yaml
G0Plus_3B_base/checkpoints/config.yaml
G0Plus_3B_base/checkpoints/dataset_stats.json
G0Plus_3B_base/checkpoints/model_state_dict.pt
G0Plus_3B_base/dataset_stats.json
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g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/stubs/libnvinfer_lean.so
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/stubs/libnvinfer_plugin.so
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/stubs/libnvinfer_vc_plugin.so
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/stubs/libnvonnxparser.so
g0plus_dockerfile/docker-assets/super_client_configuration_file.xml.tpl
g0plus_dockerfile/github_token
g0tiny_posttraining_handover.zip