Upload folder using huggingface_hub
Browse files
pick_up_box_v1/policy.metadata.json
ADDED
|
@@ -0,0 +1,33 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"task": "Unitree-G1-PickUpMotionTracking-Direct-v0",
|
| 3 |
+
"algorithm": "amp",
|
| 4 |
+
"checkpoint": "/workspace/Unitree_test/logs/skrl/g1_pick_up_motion_tracking_amp/2026-06-24_16-25-40_amp_torch/checkpoints/best_agent.pt",
|
| 5 |
+
"onnx": "/workspace/Unitree_test/logs/skrl/g1_pick_up_motion_tracking_amp/2026-06-24_16-25-40_amp_torch/checkpoints/exported/policy.onnx",
|
| 6 |
+
"opset": 17,
|
| 7 |
+
"observation_shape": [
|
| 8 |
+
1,
|
| 9 |
+
72
|
| 10 |
+
],
|
| 11 |
+
"action_shape": [
|
| 12 |
+
1,
|
| 13 |
+
14
|
| 14 |
+
],
|
| 15 |
+
"action_joint_names": [
|
| 16 |
+
"left_shoulder_pitch_joint",
|
| 17 |
+
"right_shoulder_pitch_joint",
|
| 18 |
+
"left_shoulder_roll_joint",
|
| 19 |
+
"right_shoulder_roll_joint",
|
| 20 |
+
"left_shoulder_yaw_joint",
|
| 21 |
+
"right_shoulder_yaw_joint",
|
| 22 |
+
"left_elbow_joint",
|
| 23 |
+
"right_elbow_joint",
|
| 24 |
+
"left_wrist_roll_joint",
|
| 25 |
+
"right_wrist_roll_joint",
|
| 26 |
+
"left_wrist_pitch_joint",
|
| 27 |
+
"right_wrist_pitch_joint",
|
| 28 |
+
"left_wrist_yaw_joint",
|
| 29 |
+
"right_wrist_yaw_joint"
|
| 30 |
+
],
|
| 31 |
+
"action_scale": 1.5,
|
| 32 |
+
"note": "ONNX input is raw policy observation. ONNX output is deterministic mean action in [-1, 1]-style policy units."
|
| 33 |
+
}
|
pick_up_box_v1/policy.onnx
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:38aa5ff93ac49766a72a85b5c82e3481eafd73e016a5f0f104f6c6c4eb7bbcad
|
| 3 |
+
size 815598
|