Update README.md

General model card added.

README.md

@@ -2,9 +2,39 @@
 tags:
 - model_hub_mixin
 - pytorch_model_hub_mixin
+pipeline_tag: reinforcement-learning
 ---
 
-This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration:
-- Code: [More Information Needed]
-- Paper: [More Information Needed]
-- Docs: [More Information Needed]
+# This is an S5 based RL locomotion controller for the Unitree GO1 robot. Given checkpoint achieves:
+- Linear velocity command from -2.0 m/sec to 2.0 m/sec in the forward direction (X).
+- Linear velocity command from -1.2 m/sec to 1.2 m/sec in the side direction (Y).
+- Angular velocity command from -1.2 rad/sec to 1.2 rad/sec around the body yaw direction (Rz).
+- Height command from 0.10 m to 0.30 m in the up direction (Z).
+
+# Model structure:
+```python
+ActorS5(
+  (memory_proj): Linear(in_features=57, out_features=128, bias=True)
+  (memory): S5Block(
+    (s5): S5FAST(
+      (seq): S5SSM()
+    )
+    (attn_norm): LayerNorm((128,), eps=1e-05, elementwise_affine=True)
+    (geglu): GEGLU()
+    (ff_enc): Linear(in_features=128, out_features=512, bias=False)
+    (ff_dec): Linear(in_features=256, out_features=128, bias=False)
+    (ff_norm): LayerNorm((128,), eps=1e-05, elementwise_affine=True)
+  )
+  (action_head): ActorGaussian(
+    (actor): Sequential(
+      (0): Linear(in_features=128, out_features=256, bias=True)
+      (1): ELU(alpha=1.0)
+      (2): Linear(in_features=256, out_features=128, bias=True)
+      (3): ELU(alpha=1.0)
+      (4): Linear(in_features=128, out_features=12, bias=True)
+    )
+    (_normalizer): Identity()
+  )
+  (_normalizer): EmpiricalNormalization()
+)
+```