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--- |
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license: mit |
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base_model: |
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- google/paligemma-3b-pt-224 |
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tags: |
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- openpi0 |
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- jax |
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datasets: |
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- IPEC-COMMUNITY/fractal20220817_data_lerobot |
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--- |
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download the model |
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```bash |
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huggingface-cli download --resume-download --local-dir-use-symlinks False ${model} --local-dir $(basename ${model}) |
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``` |
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launch the openpi0 server, please create the [openpi](https://github.com/Physical-Intelligence/openpi/) environment first |
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```bash |
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export OPENPI_DATA_HOME=/PATH/TO/OPENPI_DATA_HOME |
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export LEROBOT_HOME=/PATH/TO/LEROBOT_HOME |
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uv run scripts/serve_policy.py policy:checkpoint \ |
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--policy.config=pi0_fractal_lora \ |
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--policy.dir=$THE_MODEL_PATH |
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``` |
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```python |
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TrainConfig( |
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name="pi0_fractal_lora", |
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model=pi0.Pi0Config(paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora"), |
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data=LeRobotFractalDataConfig( |
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repo_id="local/fractal_lerobot", |
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base_config=DataConfig( |
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local_files_only=True, # Set to True for local-only datasets. |
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prompt_from_task=True, |
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), |
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), |
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weight_loader=weight_loaders.CheckpointWeightLoader("s3://openpi-assets/checkpoints/pi0_base/params"), |
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num_train_steps=30_000, |
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freeze_filter=pi0.Pi0Config( |
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paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora" |
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).get_freeze_filter(), |
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ema_decay=None, |
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num_workers=8, |
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), |
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``` |
