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zeroth-robotics / OpenLCH

Low cost open source humanoid
https://docs.zeroth.bot
MIT License
28 stars 7 forks source link

Convert model and removing actor-critic #17

Closed jingxiangmo closed 3 days ago

jingxiangmo commented 3 weeks ago

  1. Convert model weights (.pt) file to (.onnx) by removing actor-critic following the example here: https://github.com/kscalelabs/pro-walking-hack/blob/master/convert.py

  2. Convert the .onnx file to .cvimodel with https://github.com/milkv-duo/tpu-mlir/blob/master/docs/TPU-MLIR_Quick_Start.pdf and image