Dexmal/Dexbotic-CogACT-HArm

This model provides an initialization checkpoint for fine-tuning Dexbotic CogACT Model

Model	Description	Input Images	Action Dim	Model Size
Dexbotic-CogACT-HArm	Dual-arm CogACT model with multiple views input	Main View + Left Hand-View + Right Hand-View	16D	7B

Action Dimension Description

We recommend using the following data formats to fully utilize the pretrained models:

1. Single-arm end-effector pose: Organize 7D action data as [xyz + rpy + gripper]
2. Single-arm joint angles: Organize 8D action data as [joints + gripper]
3. Dual-arm end-effector pose: Organize 14D action data as [left_arm_xyz + left_arm_rpy + left_arm_gripper + right_arm_xyz + right_arm_rpy + right_arm_gripper]
4. Dual-arm joint angles: Organize 16D action data as [left_arm_joints + left_arm_gripper + right_arm_joints + right_arm_gripper]