---
tags:
- robotics
- dexwild
- dg5f
- act
library_name: data4robotics
---

# dg5f_newcablev5_diffusion

DexWild action-chunking Transformer trained on the DG-5F + UR5e
`bluecablespeedtorque` dataset.

- **Task:** `rdm_dg5f_joint_abs` (obs=26, act=26, joint_abs)
- **Action chunk:** 90
- **Training steps:** 100000
- **Backbone:** RGB vit_base (all 4 cameras)

Files: final checkpoint `dg5f_newcablev5_diffusion_100000.pth`, `agent_config.yaml`, `exp_config.yaml`,
norm-stats JSONs, and `hydra/` config.