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t6_bc_state_mlp
LeRobot 포맷 데이터셋 t6의 imitation learning (behavior cloning) 베이스라인 모델입니다.
- Input:
observation.state(6-dof joint state) - Output:
action(6-dof joint command) - Model: MLP (256-256) regression
- Training: early stopping on episode-based validation split
Files
t6_bc_state_mlp_best.pt: PyTorch checkpoint (state_dict+ metadata)t6_bc_state_mlp_best.json: best epoch / val metric / config summary
Notes
이 레포는 LeRobot의 ACT 같은 정책을 그대로 push한 형태는 아니고, state→action 빠른 베이스라인 체크포인트를 Hub에 올린 것입니다.
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