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huggingface-cli download --resume-download --local-dir-use-symlinks False ${model} --local-dir $(basename ${model})1export OPENPI_DATA_HOME=/PATH/TO/OPENPI_DATA_HOME
2export LEROBOT_HOME=/PATH/TO/LEROBOT_HOME
3
4uv run scripts/serve_policy.py policy:checkpoint \
5 --policy.config=pi0_fast_bridge_fft_pt_tokenizer \
6 --policy.dir=$THE_MODEL_PATH1@dataclasses.dataclass(frozen=True)
2class LeRobotBridgeDataConfig(DataConfigFactory):
3 use_quantile_norm: bool = True
4
5 # Action keys that will be used to read the action sequence from the dataset.
6 action_sequence_keys: Sequence[str] = ("action",)
7
8 prompt_from_task: bool = True
9
10 @override
11 def create(self, assets_dirs: pathlib.Path, model_config: _model.BaseModelConfig) -> DataConfig:
12 # Make inputs look like they come from the Libero environment
13 repack_transform = _transforms.Group(
14 inputs=[
15 _transforms.RepackTransform(
16 {
17 "observation/primary_image": "observation.images.image_0",
18 # "observation/left_yellow_image": "observation.images.image_1",
19 # "observation/right_blue_image": "observation.images.image_2",
20 # "observation/wirst_image": "observation.images.image_3",
21 "observation/state": "observation.state",
22 "actions": "action",
23 "prompt": "prompt",
24 }
25 )
26 ]
27 )
28
29 # Prepare data for policy training
30 # Convert images to uint8 numpy arrays, add masks
31 data_transforms = _transforms.Group(
32 inputs=[
33 bridge_policy.BridgeInputs(
34 action_dim=model_config.action_dim,
35 model_type=model_config.model_type,
36 )
37 ],
38 outputs=[bridge_policy.BridgeOutputs()],
39 )
40
41 # Model transforms include things like tokenizing the prompt and action targets
42 model_transforms = ModelTransformFactory()(model_config)
43
44 return dataclasses.replace(
45 self.create_base_config(assets_dirs),
46 repack_transforms=repack_transform,
47 data_transforms=data_transforms,
48 model_transforms=model_transforms,
49 use_quantile_norm=self.use_quantile_norm,
50 action_sequence_keys=self.action_sequence_keys,
51 prompt_from_task=self.prompt_from_task,
52 )