metadata
library_name: lerobot
license: apache-2.0
pipeline_tag: robotics
tags:
- robotics
Model Card for pi0modeltest1
This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.
How to Get Started with the Model
For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:
Train from scratch
python lerobot/scripts/train.py \
--dataset.repo_id=<user_or_org>/<dataset> \
--policy.type=act \
--output_dir=outputs/train/<desired_policy_repo_id> \
--job_name=lerobot_training \
--policy.device=cuda \
--policy.repo_id=<user_or_org>/<desired_policy_repo_id> \
--wandb.enable=true
Writes checkpoints to outputs/train/<desired_policy_repo_id>/checkpoints/.
Evaluate the policy
python -m lerobot.record \
--robot.type=so100_follower \
--dataset.repo_id=<user_or_org>/eval_<dataset> \
--policy.path=<user_or_org>/<desired_policy_repo_id> \
--episodes=10
Prefix the dataset repo with eval_ and supply --policy.path pointing to a local or hub checkpoint.