README.md

day3_13 - Zeno Wholebody ACT Models

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

Models

Model	Task	Checkpoint
stage1_act	hanger	040000
stage2_act	move	040000

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_13 --repo-type model --local-dir ./day3_13