OpenGalaxea/G0-VLA
By OpenGalaxea · ↓ 0 · ♥ 9 · Updated 2026-02-13
What's in this repo
This page lists the files in OpenGalaxea/G0-VLA, including mnist.onnx, ResNet50.onnx.
- 2 ONNX models (.onnx files)
- 1464 files, including 884 .mp4, 221 .parquet, 85 .py, 41 .h, 38 .md, 30 .txt
- Last updated 2026-02-13
ONNX files
| File | Size | Download |
|---|---|---|
| g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/data/mnist/mnist.onnx | — | Download |
| g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/data/resnet50/ResNet50.onnx | — | Download |
How to use
These ONNX files can be loaded with ONNX Runtime. To inspect a model graph, upload the file to the Netron viewer. Download links point to the original files on Hugging Face.
README
🚀 Galaxea Open-World Dataset and G0 Dual-System VLA Model
G0-VLA architecture and training pipeline: Stage 1 pre-trains a vision-language model on cross-embodiment data in an autoregressive manner. Stage 2 and post-train share the same model structure, trained on Galaxea open-world data with embodiment-specific views and high-level and subtask instructions, by supervising the Action Transformer’s action reconstruction with a flow- matching loss.
In this repo, you can find:
- [x] G0_3B_base.pt: Model Weights after Stage2 Pretraining
- [x] G0_3B_base_dataset_statistics: Statistics for Dataset Used in Pretraining
📜 Citation
All the data and code within this repo are under CC BY-NC-SA 4.0. If you use our dataset or models, please cite:
@article{galaxea2025,
title={Galaxea G0: Open-World Dataset and Dual-System VLA Model},
author={Galaxea Team},
journal={arXiv preprint arXiv:2509.00576},
year={2025}
}Model info
onnx
robotics
real-world
dual-arm
whole body control
manipulation
en
zh
dataset:OpenGalaxea/Galaxea-Open-World-Dataset
arxiv:2509.00576
license:cc-by-nc-sa-4.0
region:us
↓ 0
♥ 9
Created: 2025-09-09
Updated: 2026-02-13
View on Hugging FaceFiles (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/libnvinfer.so.10.13.0
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_builder_resource.so.10.13.0
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_builder_resource_win.so.10.13.0
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_dispatch.so.10.13.0
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_dispatch_static.a
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_lean.so.10.13.0
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_lean_static.a
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_plugin.so.10.13.0
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_plugin_static.a
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_static.a
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_vc_plugin.so.10.13.0
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvinfer_vc_plugin_static.a
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvonnxparser.so.10.13.0
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/libnvonnxparser_static.a
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/stubs/libnvinfer.so
g0plus_dockerfile/docker-assets/data/TensorRT-10.13.0.35/targets/x86_64-linux-gnu/lib/stubs/libnvinfer_dispatch.so
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
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