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---
license: cc
base_model:
- Qwen/Qwen2.5-7B
- Dexmal/Dexbotic-Base
---
This model provides an initialization checkpoint for fine-tuning Dexbotic CogACT Model
| Model | Description | Input Images | Action Dim | Model Size |
| - | - | - |- | - |
| Dexbotic-CogACT-HArm | Dual-arm CogACT model with multiple views input | Main View + Left Hand-View + Right Hand-View | 16D | 7B |
## Action Dimension Description
We recommend using the following data formats to fully utilize the pretrained models:
1. **Single-arm end-effector pose**: Organize 7D action data as `[xyz + rpy + gripper]`
2. **Single-arm joint angles**: Organize 8D action data as `[joints + gripper]`
3. **Dual-arm end-effector pose**: Organize 14D action data as `[left_arm_xyz + left_arm_rpy + left_arm_gripper + right_arm_xyz + right_arm_rpy + right_arm_gripper]`
4. **Dual-arm joint angles**: Organize 16D action data as `[left_arm_joints + left_arm_gripper + right_arm_joints + right_arm_gripper]` |