---
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]`