---
license: mit
base_model:
- google/paligemma-3b-pt-224
tags:
- openpi0
- jax
datasets:
- IPEC-COMMUNITY/fractal20220817_data_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_fast_fractal_fft_pt_tokenizer \
    --policy.dir=$THE_MODEL_PATH
```