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JayCao99/
pi0-xarm-wire-rope-v1.0

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Pi-0 (xarm wire rope)

LeRobot policy checkpoints uploaded by goal_gen/upload_hf_checkpoints.sh. Each subfolder contains the deployment-ready pretrained_model/ payload (model.safetensors + config.json + pre/postprocessor + train_config.json).

Subfolder	Train step	Final train loss
`checkpoint-030000`	30,000	0.047

Usage

python

from huggingface_hub import snapshot_download
ckpt_dir = snapshot_download(
    "JayCao99/pi0-xarm-wire-rope-v1.0",
    allow_patterns="checkpoint-030000/*",
)
from lerobot.policies.pi0.modeling_pi0 import PI0Policy
policy = PI0Policy.from_pretrained(f"{ckpt_dir}/checkpoint-030000")