wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

readme

This commit is contained in:
mshukor 2025-03-31 17:12:13 +02:00
parent 7132790faa
commit f1cd0d83d2
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
lerobot/common/policies/pi0fast/modeling_pi0fast.py
View File

@ -25,12 +25,11 @@ Designed by Physical Intelligence. Ported from Jax by Hugging Face.
Example of finetuning the pi0+FAST pretrained model (`pi0_fast_base` in `openpi`): Example of finetuning the pi0+FAST pretrained model (`pi0_fast_base` in `openpi`):
```bash ```bash
python lerobot/scripts/train.py \ python lerobot/scripts/train.py \
--policy.path=lerobot/pi0fast \ --policy.path=lerobot/pi0fast_base \
--dataset.repo_id=danaaubakirova/koch_test --dataset.repo_id=danaaubakirova/koch_test
``` ```
Example of finetuning the pi0+FAST neural network with PaliGemma and expert Gemma Example of training the pi0+FAST neural network with from scratch:
pretrained with VLM default parameters before pi0+FAST finetuning:
```bash ```bash
python lerobot/scripts/train.py \ python lerobot/scripts/train.py \
--policy.type=pi0fast \ --policy.type=pi0fast \
@ -39,7 +38,7 @@ python lerobot/scripts/train.py \
Example of using the pi0 pretrained model outside LeRobot training framework: Example of using the pi0 pretrained model outside LeRobot training framework:
```python ```python
policy = PI0FASTPolicy.from_pretrained("lerobot/pi0fast") policy = PI0FASTPolicy.from_pretrained("lerobot/pi0fast_base")
``` ```
""" """