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Kennyp-Chen/
bfmzero-29dof

Name: bfmzero-29dof
Availability: InStock

safetensors

reinforcement-learning

robot

bfmzero

other

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BFMZero - 29DoF Checkpoint

Trained checkpoint for BFMZero (FBcprAuxAgent / FBcprAuxModel) with 29 degrees of freedom.

Training Status

Steps: 144,000,000
Config: Residual MLP with z_dim=128, hidden_dim=1024, 4 hidden layers
Device: CUDA

Files

File	Description
`model.safetensors`	Model weights (SafeTensors format)
`optimizers.pth`	Optimizer states
`config.json`	Model architecture configuration
`init_kwargs.json`	Initialization parameters
`train_status.json`	Training step counter

Usage

python

from huggingface_hub import hf_hub_download
import torch

# Download model weights
model_path = hf_hub_download(
    repo_id="Kennyp-Chen/bfmzero-29dof",
    filename="model.safetensors"
)