Being-H0: Vision-Language-Action Pretraining from Large-Scale Human
  Videos
Authors: name: Hao Luo; name: Yicheng Feng; name: Wanpeng Zhang; name: Sipeng Zheng; name: Ye Wang; name: Haoqi Yuan; name: Jiazheng Liu; name: Chaoyi Xu; name: Qin Jin; name: Zongqing Lu
Published: 2025-07-21 13:19:09

Abstract: We introduce Being-H0, a dexterous Vision-Language-Action model (VLA) trained
on large-scale human videos. Existing VLAs struggle with complex manipulation
tasks requiring high dexterity and generalize poorly to novel scenarios and
tasks, primarily due to their reliance on synthetic data with significant
sim-to-real gaps or teleoperated demonstrations lacking scale and diversity. To
address this data bottleneck, we propose leveraging human hands as a foundation
manipulator, capitalizing on the rich dexterity and scalability present in web
data. Our approach centers on physical instruction tuning, a novel training
paradigm that combines large-scale VLA pretraining from human videos, physical
space alignment for 3D reasoning, and post-training adaptation for robotic
tasks. Additionally, we introduce a part-level motion tokenization method which
achieves millimeter-level reconstruction accuracy to model precise hand
trajectories for action learning. To support our proposed paradigm, we further
develop a comprehensive data curation pipeline that integrates heterogeneous
sources -- including motion capture, VR, and RGB-only videos -- into a
large-scale dataset with millions of motion-based instructional instances. We
empirically show the excellence of Being-H0 in hand motion generation and
instruction following, and it also scales well with model and data sizes.
Importantly, we observe the expected gains of Being-H0 in real-world robotic
manipulation as physical instruction tuning is applied. More details are
available at https://beingbeyond.github.io/Being-H0.