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day3_16

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day3_16 - Zeno Wholebody ACT Models

ACT policies for Zeno wholebody robot.

Training Config

  • n_action_steps: 1 (temporal ensembling at inference)
  • chunk_size: 100
  • batch_size: 64
  • steps: 200000
  • vision_backbone: resnet34 (ImageNet pretrained)
  • dim_model: 512, dim_feedforward: 3200
  • n_encoder_layers: 4, n_decoder_layers: 1

Models

Model Task Episodes Checkpoints
stage1_act hanger 56 100000, 150000, 200000
stage2_act move 56 100000, 150000, 200000
stage3_act move_hanger 20 100000, 150000, 200000
day3_14_act all (hanger+move+move_hanger) 132 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_16 --repo-type model --local-dir ./day3_16
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