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day3_14

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day3_14 - Zeno Wholebody ACT Models

Stage1 (hanger) + Stage2 (move) ACT policies for Zeno wholebody robot.

Changes from day3_13

  • n_action_steps: 100 -> 1 (for temporal ensembling)
  • batch_size: 32 -> 64
  • steps: 100000 -> 200000
  • wandb tracking enabled

Models

Model Task Checkpoints
stage1_act hanger 100000, 150000, 200000
stage2_act move 100000, 150000, 200000

Input/Output

  • observation.state 17D: [base_vx, base_vy, base_omega, left_0..6, right_0..6]
  • observation.images.realsense_top/left/right 224x224
  • action 17D: [base_vx, base_vy, base_omega, left_0..6, right_0..6]

Download 

huggingface-cli download QRP123/day3_14 --repo-type model --local-dir ./day3_14
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