---
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"
)
```