VigneshBhavan/anchorlab-models

AnchorLab Models

Presentation actuator-model checkpoints for the AnchorLab G1 and H1 right-arm benchmarks. Each ZIP contains the definitive TorchScript artifact, raw training checkpoint, normalization statistics, configuration files, a smoke test, an I/O example, and detailed deployment notes.

Models

G1 presentation full-torque GRU

File: g1_presentation_full_torque_gru.zip

This is the exact seed-48 G1 checkpoint used for the presentation result. It is the original 24-input model, not the later 20-input ablation.

Deployment contract:

• Full-torque GRU for the fixed-pelvis G1 29-DOF tri-hand benchmark.
• Solver PD must be disabled: kp=0, kd=0.
• The 24 inputs are q, position error, velocity, pd_hint, qfrc_bias, and previous torque.
• The GRU output is the complete applied motor torque.

H1 presentation residual GRU

File: h1_presentation_residual_gru.zip

This is the exact H1 right-arm v28 checkpoint used for the presentation result.

Deployment contract:

• Residual GRU for the measured fixed-root H1 gripper/end-effector setup.
• Run as implicit SysID PD plus residual: applied_torque = implicit_sysid_pd_torque + 0.33 * residual.
• Do not run this checkpoint as a pure full-torque model with kp=0 and kd=0.
• The 24 inputs are q, position error, velocity, pd_hint, qfrc_bias, and previous torque.

Scope

These archives are actuator-model handoffs, not complete IsaacLab-Newton checkouts. Map the included reference configurations and asset paths into the benchmark checkout where the model is evaluated.