Update README.md

README.md

@@ -26,4 +26,25 @@ export LEROBOT_HOME=/PATH/TO/LEROBOT_HOME
 uv run scripts/serve_policy.py policy:checkpoint \
     --policy.config=pi0_fractal_lora \
     --policy.dir=$THE_MODEL_PATH
+```
+
+```python
+TrainConfig(
+    name="pi0_fractal_lora",
+    model=pi0.Pi0Config(paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora"),
+    data=LeRobotFractalDataConfig(
+        repo_id="local/fractal_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,
+    ),
 ```