metadata
datasets: romanrab/battery_box_right_arm_150
library_name: lerobot
license: apache-2.0
model_name: pi0fast
pipeline_tag: robotics
tags:
- pi0fast
- lerobot
- robotics
Model Card for pi0fast
Pi0-Fast is a variant of Pi0 that uses a new tokenization method called FAST, which enables training of an autoregressive vision-language-action policy for high-frequency robotic tasks with improved performance and reduced training time.
This policy has been trained and pushed to the Hub using LeRobot. See the full documentation at LeRobot Docs.
How to Get Started with the Model
For a complete walkthrough, see the training guide. Below is the short version on how to train and run inference/eval:
Train from scratch
python -m lerobot.scripts.train \
--dataset.repo_id=${HF_USER}/<dataset> \
--policy.type=act \
--output_dir=outputs/train/<desired_policy_repo_id> \
--job_name=lerobot_training \
--policy.device=cuda \
--policy.repo_id=${HF_USER}/<desired_policy_repo_id>
--wandb.enable=true
Writes checkpoints to outputs/train/<desired_policy_repo_id>/checkpoints/.
Evaluate the policy/run inference
python -m lerobot.record \
--robot.type=so100_follower \
--dataset.repo_id=<hf_user>/eval_<dataset> \
--policy.path=<hf_user>/<desired_policy_repo_id> \
--episodes=10
Prefix the dataset repo with eval_ and supply --policy.path pointing to a local or hub checkpoint.
Model Details
- License: apache-2.0