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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 | 0.016 |
1from huggingface_hub import snapshot_download
2ckpt_dir = snapshot_download(
3 "JayCao99/pi0-xarm-hang-blue-mug-v2.0",
4 allow_patterns="checkpoint-030000/*",
5)
6from lerobot.policies.pi0.modeling_pi0 import PI0Policy
7policy = PI0Policy.from_pretrained(f"{ckpt_dir}/checkpoint-030000")