| --- |
| library_name: pytorch |
| tags: |
| - robotics |
| - actuator-model |
| - gru |
| - g1 |
| - h1 |
| --- |
| |
| # AnchorLab Models |
|
|
| Presentation actuator-model checkpoints for the AnchorLab G1 and H1 right-arm |
| benchmarks. Each ZIP contains the definitive TorchScript artifact, raw training |
| checkpoint, normalization statistics, configuration files, a smoke test, an |
| I/O example, and detailed deployment notes. |
|
|
| ## Models |
|
|
| ### G1 presentation full-torque GRU |
|
|
| File: `g1_presentation_full_torque_gru.zip` |
|
|
| This is the exact seed-48 G1 checkpoint used for the presentation result. It is |
| the original 24-input model, not the later 20-input ablation. |
|
|
| Deployment contract: |
|
|
| - Full-torque GRU for the fixed-pelvis G1 29-DOF tri-hand benchmark. |
| - Solver PD must be disabled: `kp=0`, `kd=0`. |
| - The 24 inputs are `q`, position error, velocity, `pd_hint`, `qfrc_bias`, and |
| previous torque. |
| - The GRU output is the complete applied motor torque. |
|
|
| ### H1 presentation residual GRU |
|
|
| File: `h1_presentation_residual_gru.zip` |
|
|
| This is the exact H1 right-arm v28 checkpoint used for the presentation result. |
|
|
| Deployment contract: |
|
|
| - Residual GRU for the measured fixed-root H1 gripper/end-effector setup. |
| - Run as implicit SysID PD plus residual: |
| `applied_torque = implicit_sysid_pd_torque + 0.33 * residual`. |
| - Do not run this checkpoint as a pure full-torque model with `kp=0` and |
| `kd=0`. |
| - The 24 inputs are `q`, position error, velocity, `pd_hint`, `qfrc_bias`, and |
| previous torque. |
|
|
| ## Scope |
|
|
| These archives are actuator-model handoffs, not complete IsaacLab-Newton |
| checkouts. Map the included reference configurations and asset paths into the |
| benchmark checkout where the model is evaluated. |
|
|
