metadata
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:
- Single-arm end-effector pose: Organize 7D action data as
[xyz + rpy + gripper] - Single-arm joint angles: Organize 8D action data as
[joints + gripper] - 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] - Dual-arm joint angles: Organize 16D action data as
[left_arm_joints + left_arm_gripper + right_arm_joints + right_arm_gripper]