| --- |
| datasets: |
| - lerobot/aloha_sim_transfer_cube_scripted |
| base_model: |
| - lerobot/pi0 |
| --- |
| |
| LeRobot version of Pi0 fine-tuned for 20k steps on the `lerobot/aloha_sim_transfer_cube_scripted_image` dataset. |
|
|
| Usage: |
| ``` |
| policy = PI0Policy.from_pretrained("BrunoM42/pi0_aloha_transfer_cube") |
| action = policy.select_action(batch) |
| ``` |
|
|
| Run evaluation: |
| ``` |
| 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 --eval.seed=42 |
| ``` |
