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---
license: mit
base_model:
- google/paligemma-3b-pt-224
tags:
- openpi0
- jax
datasets:
- IPEC-COMMUNITY/bridge_orig_lerobot
---
download the model
```bash
huggingface-cli download --resume-download --local-dir-use-symlinks False ${model} --local-dir $(basename ${model})
```
launch the openpi0 server, please create the [openpi](https://github.com/Physical-Intelligence/openpi/) environment first
```bash
export OPENPI_DATA_HOME=/PATH/TO/OPENPI_DATA_HOME
export LEROBOT_HOME=/PATH/TO/LEROBOT_HOME
uv run scripts/serve_policy.py policy:checkpoint \
--policy.config=pi0_bridge_lora \
--policy.dir=$THE_MODEL_PATH
```
```python
TrainConfig(
name="pi0_bridge_low_mem_finetune",
model=pi0.Pi0Config(paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora"),
data=LeRobotBridgeDataConfig(
repo_id="local/bridge_lerobot",
base_config=DataConfig(
local_files_only=True, # Set to True for local-only datasets.
prompt_from_task=True,
),
),
weight_loader=weight_loaders.CheckpointWeightLoader("s3://openpi-assets/checkpoints/pi0_base/params"),
num_train_steps=30_000,
freeze_filter=pi0.Pi0Config(
paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora"
).get_freeze_filter(),
ema_decay=None,
num_workers=8,
),
``` |