Pi0 pretrained model
This repository contains the model described in π_0: A Vision-Language-Action Flow Model for General Robot Control.
See the Twitter thread and blog post for more info regarding its integration in LeRobot.
Usage
You can download and use this model with:
policy = Pi0Policy.from_pretrained("lerobot/pi0")
action = policy.select_action(batch)
Fine-tuning
You can easily finetune it on your dataset. For instance on @dana_55517 's dataset:
python lerobot/scripts/train.py \
--policy.path=lerobot/pi0 \
--dataset.repo_id=danaaubakirova/koch_test
Take a look at the code regarding the implementation.