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HAN Humanoid Motion Model v2
Model Name
han-humanoid-motion-model-v2
Task
Humanoid Action Classification
Architecture
Transformer Encoder (PyTorch)
Labels
- walking_forward
- walking_backward
- turn_left
- turn_right
- pick_object
- wave_hand
- sit_down
- stand_up
Input Schema
{ "joint_positions": [float x 20], "joint_velocities": [float x 20], "imu_orientation": [float x 4], "imu_acceleration": [float x 3] }
Output Schema
{ "predicted_action": "walking_forward", "confidence_score": 0.95 }
Training Configuration
Epochs: 30 Batch Size: 32 Optimizer: AdamW Learning Rate: 0.0002 Loss Function: CrossEntropyLoss
License: MIT
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