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BeingBeyondChina2026

Being-H0.7

Runs onAdam-Uby PNDbotics AG1by Unitree Robotics A

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Key figures as stated by the developer

5 of 7 key figures stated
  • Model type ⁠C world action model
  • Controls ⁠A arms and hands
  • Inputs ⁠A camera language robot state
  • Parameters ⁠A 3B
  • Base model ⁠A Being-H0.5 with InternVL3.5 and Qwen3 experts

Not stated: Access · Licence

Full specifications

9 of 14 fields stated
The letter points to the source at the foot of the page. Fields without a figure are dashed: the developer does not state them — that is not the same as zero, and not the same as no.
Field Value Source and caveats
Release
Released14 April 2026

[A] "Apr 14, 2026" ⁠D
Input and output
Model typeworld action model

BeingBeyond's own term: "a latent world-action model". ⁠C

Inputscamera language robot state

Technical report: the latent queries "attend to the instruction, observation history, and robot state". Cameras per robot are listed in the report: "PND Adam-U Upper-body humanoid 19 Linkerbot O6 (6 DoF) 31 2 ego-view cameras 20 Hz". ⁠A

Controlsarms and hands

Technical report: "In PND Adam-U, the policy controls 19 body DoF together with bilateral Linkerbot O6 hands." ⁠A

Degrees of freedom controlled31DoF

Total for the PND Adam-U setup (body plus hands): "PND Adam-U Upper-body humanoid 19 Linkerbot O6 (6 DoF) 31 2 ego-view cameras 20 Hz". The Unitree G1 setup: "Unitree G1 Bimanual humanoid 14 Linkerbot O6 (6 DoF) 26 1 ego-view camera 10 Hz". ⁠A
Size and speed
Parameters3B

Model size in the technical report's comparison table: "Being-H0.7 3B". ⁠A

Control rate20Hz

Policy frequency in the real-robot tests, fastest stated: "PND Adam-U Upper-body humanoid 19 Linkerbot O6 (6 DoF) 31 2 ego-view cameras 20 Hz". The Unitree G1 row: "Unitree G1 Bimanual humanoid 14 Linkerbot O6 (6 DoF) 26 1 ego-view camera 10 Hz". ⁠A
Where it runs and what it is built on
On robot or cloudnot stated
Base modelBeing-H0.5 with InternVL3.5 and Qwen3 experts

Technical report: "Being-H0.7 is built on top of Being-H0.5", "with InternVL3.5" as the understanding expert and Qwen3 as the action expert. ⁠A
Openness
Accessnot stated

Note BeingBeyond's repository, news entry of 14 April 2026: "Code and checkpoints are coming soon!" ⁠B

Licence termsnot stated

Note Licence of the code repository, which does not yet hold Being-H0.7 checkpoints: "This repository is released under Apache-2.0." ⁠B

Licencenot stated
The developer’s own claims
Learns new tasksneeds retraining

Developer claim: "For downstream post-training, we optimize only the action-generation objective and latent alignment loss on task-specific demonstrations". ⁠A

Works across robotsnot stated

Note The report states "We evaluate Being-H0.7 on three real-robot platforms" but does not say whether one set of weights runs on all three. ⁠A

Yes only if the developer itself says the model runs on different robot models, for example robots from two manufacturers or two of one manufacturer’s models. Several units of the same robot do not count.
How to read the figures
50HzA
The letter in the grey square after a figure points to the source the figure came from. Pages with several sources carry several letters.

What the data labels mean

Notes

  • BeingBeyond lists Being-H0.7 as its flagship world-action model; on 14 April 2026 it announced code and checkpoints as coming soon.
  • BeingBeyond lists its Beijing address on its own website.
Versions and notes in the key figures (6)

Model type

BeingBeyond's own term: "a latent world-action model".

Controls

Technical report: "In PND Adam-U, the policy controls 19 body DoF together with bilateral Linkerbot O6 hands."

Inputs

Technical report: the latent queries "attend to the instruction, observation history, and robot state". Cameras per robot are listed in the report: "PND Adam-U Upper-body humanoid 19 Linkerbot O6 (6 DoF) 31 2 ego-view cameras 20 Hz".

Access

Note BeingBeyond's repository, news entry of 14 April 2026: "Code and checkpoints are coming soon!"

Parameters

Model size in the technical report's comparison table: "Being-H0.7 3B".

Base model

Technical report: "Being-H0.7 is built on top of Being-H0.5", "with InternVL3.5" as the understanding expert and Qwen3 as the action expert.

Sources

One line per source, not per figure: a source has one retrieval date. The letter beside a figure points to the line it came from.