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dg5f_bluecable60_sparsh_ac90
Kaz55/dg5f_bluecable60_sparsh_ac90
dg5f_bluecable60_sparsh_ac90 is a robotics model from Kaz55. Use it for the robotics task on the model card, and read the license before you ship it in a product. It is set up for data4robotics. The card lists the license as apache-2.0.
DexWild (ditpolicy) action-chunking Transformer for a DG-5F dexterous hand + UR5e arm blue-cable manipulation task. The two GelSight tactile cameras are encoded by a frozen SPARSH (facebook/sparsh-dino-base) tactile e…
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Public
Updated Jul 22, 2026
Repo size
3.5 GB
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0
Public
Repo makeup
Click a slice to open those files.
.pth3.5 GB · 100%
At a glance
- Task
- Robotics
- Library
- data4robotics
- License
- apache-2.0
- Access
- Public
- Created
- Jul 22, 2026
- Updated
- Jul 22, 2026
- SHA
- 7b8e8eee
Model card
From the Hugging Face model README
dg5f_bluecable60_sparsh_ac90
DexWild (dit_policy) action-chunking Transformer for a DG-5F dexterous hand + UR5e arm
blue-cable manipulation task. The two GelSight tactile cameras are encoded by a frozen
SPARSH (facebook/sparsh-dino-base) tactile encoder; the two RealSense RGB cameras use a
vit_base backbone.
Trained on Kaz55/dg5f_ur5e_bluecable60ep_h5
(60 episodes). This repo contains the final checkpoint at 50,000 iterations.
Files
| File | Description |
|---|---|
dg5f_bluecable60_sparsh_ac90_50000.pth | Model weights @ 50k iters (≈3.5 GB) |
agent_config.yaml | Agent architecture config (needed to rebuild the model) |
exp_config.yaml | Full experiment config |
hydra/config.yaml, hydra/overrides.yaml | Resolved Hydra config + CLI overrides |
combined_ac_norm.json, combined_state_norm.json | Action / state normalization stats (required for inference) |
train_data_bluecable60_ac_norm.json, train_data_bluecable60_state_norm.json | Per-dataset norm stats |
The
.pthalone is not enough to run the policy — you also needagent_config.yamland the*_norm.jsonnormalization statistics.
Model / task specs
- Observations: state 26-d (UR5e 6 + DG-5F 20), 4 cameras
(
realsense,realsense2→ RGBvit_base;gelsight1,gelsight2→ SPARSH, cam indices[2, 3]). - Actions: 26-d (UR5e gello 6 + DG-5F cmd 20), joint-absolute.
- Action chunk (
ac_chunk): 90 - Transformer: d_model 768, nhead 8, enc 4 / dec 6 layers, ffn 3200, gelu, dropout 0.1.
- SPARSH:
sparsh-dino-base,in_chans=6(2 bg-subtracted frames),pooling=register, frozen.
Training
| Framework | DexWild dit_policy (data4robotics), accelerate bf16, single GPU |
| Agent / task | agent=transformer_sparsh, task=rdm_dg5f_sparsh |
| Iterations | 50,000 (save_freq/keep_freq=10,000) |
| Batch size | 32 |
| LR / sched | 1e-4, trainer=bc_cos_sched (cosine) |
| RGB backbone | vit_base (SOUP_1M_DH.pth) |
use_lang / use_tactile (uSkin) | false / false (GelSight routed through SPARSH, not uSkin) |
Intended use
Research / imitation-learning baseline for the DG-5F + UR5e blue-cable task. Not a general-purpose robot policy.
- Task
- Robotics
- Library
- data4robotics
- License
- apache-2.0
- Created
- Jul 22, 2026
- Updated
- Jul 22, 2026