from lerobot.policies.factory import make_policy
from lerobot.configs.policies import PreTrainedConfig

cfg = PreTrainedConfig.from_pretrained("DreamMachines/actuator_unboxing_pi05_v4_clean_trimmed", revision="v002000")
policy = make_policy(cfg)

Available: v010000, v020000, v030000, v040000

Quick eval on a real DK1

Base model: <a href="https://huggingface.co/lerobot/pi05_base" target="_blank" rel="noopener noreferrer" class="text-blue-400 hover:text-blue-300 underline underline-offset-2 transition-colors"> lerobot/pi05_base
Dataset: <a href="https://huggingface.co/datasets/DreamMachines/actuator_unboxing_v4_clean_trimmed_224x224" target="_blank" rel="noopener noreferrer" class="text-blue-400 hover:text-blue-300 underline underline-offset-2 transition-colors"> DreamMachines/actuator_unboxing_v4_clean_trimmed_224x224
Step (this revision): 40000
Batch size: 32
Total steps target: 100000
Optimizer: adamw (lr 0.0001 )

make eval MODEL=DreamMachines/actuator_unboxing_pi05_v4_clean_trimmed

See docs/source/policy_pi05_README.md for π₀.₅-specific notes.