| license: apache-2.0 | |
| library_name: lerobot | |
| pipeline_tag: robotics | |
| ## Pi0 pretrained model | |
| This repository contains the model described in [π_0: A Vision-Language-Action Flow Model for General Robot Control](https://huggingface.co/papers/2410.24164). | |
| See the [Twitter thread](https://x.com/RemiCadene/status/1886823939856589296) and [blog post](https://huggingface.co/blog/pi0) for more info regarding its integration in [LeRobot](https://github.com/huggingface/lerobot). | |
| ## Usage | |
| You can download and use this model with: | |
| ```python | |
| 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](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=danaaubakirova%2Fkoch_test&episode=0): | |
| ```python | |
| python lerobot/scripts/train.py \ | |
| --policy.path=lerobot/pi0 \ | |
| --dataset.repo_id=danaaubakirova/koch_test | |
| ``` | |
| Take a look at the [code](https://github.com/huggingface/lerobot/blob/main/lerobot/common/policies/pi0/modeling_pi0.py) regarding the implementation. | |