Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos

We introduce Being-H0, the first dexterous Vision-Language-Action model pretrained from large-scale human videos via explicit hand motion modeling.

News

• [2025-08-02]: We release the Being-H0 codebase and pretrained models! Check our Hugging Face Model Hub for more details. 🔥🔥🔥
• [2025-07-21]: We publish Being-H0! Check our paper here. 🌟🌟🌟

Model Checkpoints

Download pre-trained models from Hugging Face:

Dataset

We have provided the dataset for post-training the VLA model. The dataset is available in Hugging Face:

Setup

Clone repository

git clone https://github.com/BeingBeyond/Being-H0.git
cd Being-H0

Create environment

conda env create -f environment.yml
conda activate beingvla

Install package

pip install flash-attn --no-build-isolation
pip install git+https://github.com/lixiny/manotorch.git
pip install git+https://github.com/mattloper/chumpy.git

Download MANO package

• Visit MANO website
• Create an account by clicking Sign Up and provide your information
• Download Models and Code (the downloaded file should have the format mano_v*_*.zip). Note that all code and data from this download falls under the MANO license.
• Unzip and copy the contents in mano_v*_*/ folder to the beingvla/models/motion/mano/ folder

Inference

Motion Generation

• To generate hand motion tokens and render the motion, you should use the Motion Model (Being-H0-GRVQ-8K) and the pretrained VLA model (Being-H0-{1B,8B,14B}-2508).
• You can use the following command to inference. For the --motion_code_path, you should use a + symbol to jointly specify the wrist and finger motion code paths, e.g., --motion_code_path "/path/to/Being-H0-GRVQ-8K/wrist/+/path/to/Being-H0-GRVQ-8K/finger/".
• The --hand_mode can be set to left, right, or both to specify which hand to use for the task.

python -m beingvla.inference.vla_internvl_inference \
    --model_path /path/to/Being-H0-XXX \
    --motion_code_path "/path/to/Being-H0-GRVQ-8K/wrist/+/path/to/Being-H0-GRVQ-8K/finger/" \
    --input_image ./playground/unplug_airpods.jpg \
    --task_description "unplug the charging cable from the AirPods" \
    --hand_mode both \
    --num_samples 3 \
    --num_seconds 4 \
    --enable_render true \
    --gpu_device 0 \
    --output_dir ./work_dirs/

• To inference on your own photos: See Camera Intrinsics Guide for how to estimate camera intrinsics and input them for custom inference.

Evaluation

• You can use our pretrained VLA model to post-train on real robot data. When you get your post-trained model (e.g., Being-H0-8B-Align-2508), you can use the following commands to communicate with real robot, or evaluate the model on a robot task.

• Setup robot communication:

python -m beingvla.models.motion.m2m.aligner.run_server \
    --model-path /path/to/Being-H0-XXX-Align \
    --port 12305 \
    --action-chunk-length 16

• Run evaluation on robot task:

python -m beingvla.models.motion.m2m.aligner.eval_policy \
    --model-path /path/to/Being-H0-XXX-Align \
    --zarr-path /path/to/real-robot/data \
    --task_description "Put the little white duck into the cup." \
    --action-chunk-length 16

Contributing and Building on Being-H0

We encourage researchers and practitioners to leverage Being-H0 as a foundation for their own creative experiments and applications. Whether you're adapting Being-H0 to new robotic platforms, exploring novel hand manipulation tasks, or extending the model to new domains, our modular codebase is designed to support your innovations. We welcome contributions of all kinds - from bug fixes and documentation improvements to new features and model architectures. By building on Being-H0 together, we can advance the field of dexterous vision-language-action modeling and enable robots to understand and replicate the rich complexity of human hand movements. Join us in making robotic manipulation more intuitive, capable, and accessible to all.

Citation

If you find our work useful, please consider citing us and give a star to our repository! 🌟🌟🌟

Being-H0

@article{beingbeyond2025beingh0,
  title={Being-H0: Vision-Language-Action Pretraining from Large-Scale Human Videos},
  author={Luo, Hao and Feng, Yicheng and Zhang, Wanpeng and Zheng, Sipeng and Wang, Ye and Yuan, Haoqi and Liu, Jiazheng and Xu, Chaoyi and Jin, Qin and Lu, Zongqing},
  journal={arXiv preprint arXiv:2507.15597},
  year={2025}
}