| license: other | |
| tags: | |
| - reinforcement-learning | |
| - robot | |
| - g1 | |
| - bfmzero | |
| # BFMZero - 29DoF Checkpoint | |
| Trained checkpoint for BFMZero (FBcprAuxAgent / FBcprAuxModel) with **29 degrees of freedom**. | |
| ## Training Status | |
| - **Steps**: 144,000,000 | |
| - **Config**: Residual MLP with z_dim=128, hidden_dim=1024, 4 hidden layers | |
| - **Device**: CUDA | |
| ## Files | |
| | File | Description | | |
| |------|-------------| | |
| | `model.safetensors` | Model weights (SafeTensors format) | | |
| | `optimizers.pth` | Optimizer states | | |
| | `config.json` | Model architecture 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-29dof", | |
| filename="model.safetensors" | |
| ) | |
| ``` | |