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--- |
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datasets: |
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- lerobot/aloha_sim_transfer_cube_scripted |
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base_model: |
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- lerobot/pi0 |
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--- |
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LeRobot version of Pi0 fine-tuned for 20k steps on the `lerobot/aloha_sim_transfer_cube_scripted_image` dataset. |
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Usage: |
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```python |
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policy = PI0Policy.from_pretrained("BrunoM42/pi0_aloha_transfer_cube") |
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action = policy.select_action(batch) |
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``` |
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Run evaluation: |
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```python |
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python lerobot/scripts/eval.py --policy.path=BrunoM42/pi0_aloha_transfer_cube --env.type=aloha --env.task=AlohaTransferCube-v0 --env.episode_length=600 --eval.n_episodes=10 --eval.batch_size=10 --seed=42 |
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``` |
