metadata
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
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"
)