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forcebenchmark-dp-planning-lift-stamp-exp24567-trainonly
HanLinqi/forcebenchmark-dp-planning-lift-stamp-exp24567-trainonly
forcebenchmark-dp-planning-lift-stamp-exp24567-trainonly is a robotics model from HanLinqi. Use it for the robotics task on the model card, and read the license before you ship it in a product.
Public PyTorch checkpoints trained on the ForceBenchmark planning datasets with Panda qpos(9) + qvel(9) 18D state, 7D pdeedeltapose actions, and 6D incomingjoint wrist wrench.
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Public
Updated Aug 25, 2026
Repo size
595 MB
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.pt595 MB · 100%
At a glance
- Task
- Robotics
- Access
- Public
- Created
- Aug 25, 2026
- Updated
- Aug 25, 2026
- SHA
- dd3fff77
Model card
From the Hugging Face model README
ForceBenchmark DP Planning: Lift & Stamp Exp2/4/5/6/7
Public PyTorch checkpoints trained on the ForceBenchmark planning datasets with Panda qpos(9) + qvel(9) 18D state, 7D pd_ee_delta_pose actions, and 6D incoming_joint wrist wrench.
Protocol: seed 1, batch size 256, observation horizon 2, action horizon 8, prediction horizon 16, 100,000 training iterations, train-only (no evaluation). Each .pt stores both agent and ema_agent state dictionaries.
Included: all five Lift checkpoints and all five Stamp checkpoints (Exp2/4/5/6/7).
Force settings: Lift uses an 8-frame wrench window and normalized clip 5; Stamp uses a 4-frame wrench window and normalized clip 6. See metadata/training_manifest.txt and metadata/force_stats/ for details. Verify files with SHA256SUMS.
- Task
- Robotics
- Created
- Aug 25, 2026
- Updated
- Aug 25, 2026