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dg5f_speedtorque_sparsh_ac90
Kaz55/dg5f_speedtorque_sparsh_ac90
dg5f_speedtorque_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.
DexWild action-chunking Transformer trained on the DG-5F + UR5e bluecablespeedtorque dataset.
Access
Public
Updated Jul 23, 2026
Repo size
3.5 GB
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0
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Repo makeup
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.pth3.5 GB · 100%
At a glance
- Task
- Robotics
- Library
- data4robotics
- Access
- Public
- Created
- Jul 23, 2026
- Updated
- Jul 23, 2026
- SHA
- 1c1f6166
Model card
From the Hugging Face model README
dg5f_speedtorque_sparsh_ac90
DexWild action-chunking Transformer trained on the DG-5F + UR5e
bluecablespeedtorque dataset.
- Task:
rdm_dg5f_sparsh(obs=26, act=26, joint_abs) - Action chunk: 90
- Training steps: 100000
- Backbone: RealSense = RGB vit_base, GelSight = frozen SPARSH (sparsh-dino-base)
Files: final checkpoint dg5f_speedtorque_sparsh_ac90_100000.pth, agent_config.yaml, exp_config.yaml,
norm-stats JSONs, and hydra/ config.
Inference dependency (SPARSH)
The two GelSight cameras are encoded by a frozen facebook/sparsh-dino-base tactile encoder. The saved .pth does not contain the SPARSH weights, so to run this checkpoint you also need: (1) the tactile_ssl package + this fork's data4robotics/models/sparsh.py; (2) the SPARSH weights facebook/sparsh-dino-base (dino_vitbase.ckpt); (3) XFORMERS_DISABLED=1. See the RealSense RGB backbone (SOUP_1M_DH.pth) note in the agent config.
- Task
- Robotics
- Library
- data4robotics
- Created
- Jul 23, 2026
- Updated
- Jul 23, 2026