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.
