File size: 954 Bytes
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license: other
tags:
- reinforcement-learning
- robot
- g1
- bfmzero
---
# BFMZero - 23DoF Checkpoint (Final)
Trained checkpoint for BFMZero (FBcprAuxAgent / FBcprAuxModel) with **23 degrees of freedom**.
## Training Status
- **Steps**: 384,000,000
- **Config**: Residual MLP with z_dim=256, hidden_dim=2048, 4 hidden layers
- **Device**: CUDA
## Files
| File | Description |
|------|-------------|
| `model_384000000.safetensors` | Model weights (SafeTensors format) |
| `optimizers_384000000.pth` | Optimizer states |
| `config.json` | Model architecture configuration |
| `config.yaml` | Full training configuration |
| `init_kwargs.json` | Initialization parameters |
| `train_status.json` | Training step counter |
## Usage
```python
from huggingface_hub import hf_hub_download
import torch
# Download model weights
model_path = hf_hub_download(
repo_id="Kennyp-Chen/bfmzero-23dof",
filename="model_384000000.safetensors"
)
```
|