Caplin43/han-humanoid-motion-model-v2

HAN Humanoid Motion Model v2

Model Name

han-humanoid-motion-model-v2

Task

Humanoid Action Classification

Architecture

Transformer Encoder (PyTorch)

Labels

1. 1.walking_forward
2. 2.walking_backward
3. 3.turn_left
4. 4.turn_right
5. 5.pick_object
6. 6.wave_hand
7. 7.sit_down
8. 8.stand_up

Input Schema

{ "jointpositions": [float x 20], "jointvelocities": [float x 20], "imuorientation": [float x 4], "imuacceleration": [float x 3] }

Output Schema

{ "predictedaction": "walkingforward", "confidence_score": 0.95 }

Training Configuration

Epochs: 30 Batch Size: 32 Optimizer: AdamW Learning Rate: 0.0002 Loss Function: CrossEntropyLoss

License: MIT