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fracapuano/
pi0

Name: pi0
Availability: InStock

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Pi0 pretrained model

See the Twitter thread and blog post for more info regarding its integration in LeRobot.

You can download and use this model with:

python

policy = Pi0Policy.from_pretrained("lerobot/pi0")
action = policy.select_action(batch)

You can easily finetune it on your dataset. For instance on @dana_55517 's dataset:

python

python lerobot/scripts/train.py \
--policy.path=lerobot/pi0 \
--dataset.repo_id=danaaubakirova/koch_test

Take a look at the code regarding the implementation.