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library_name: openpi
tags:
- robotics
- openpi
- pi0
- franka
---
# GRASPNET_FINAL_moreData_h100
openpi π₀.₅ policy checkpoint.
- **Train config:** `pi05_Franka_GRASPNET_FINAL_moreData`
- **Experiment:** `GRASPNET_FINAL_moreData_h100`
- **Checkpoints in this repo:**
- `step_50000/`
- `step_99999/`
Each folder is one training step and is self-contained.
- **Training dataset:** [saifahmad123/GRASPNET_FINAL_moreData](https://huggingface.co/datasets/saifahmad123/GRASPNET_FINAL_moreData)
## Contents
| Path | Purpose |
|---|---|
| `step_50000/params/` | Model weights. Required to serve the policy. |
| `step_50000/assets/` | Normalization statistics. Required to serve the policy. |
| `step_50000/train_state/` | Optimizer state. Only present if uploaded with `--include-train-state`; needed to resume training. |
## Usage
```python
from huggingface_hub import snapshot_download
from openpi.policies import policy_config
from openpi.training import config as _config
ckpt = snapshot_download("saifahmad123/GRASPNET_FINAL_moreData_h100", allow_patterns="step_50000/*") + "/step_50000"
train_config = _config.get_config("pi05_Franka_GRASPNET_FINAL_moreData")
policy = policy_config.create_trained_policy(train_config, ckpt)
action_chunk = policy.infer(observation)["actions"]
```
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