Team-Atom/pi0f_record_blue_pick_64_40000

Model Card for pi0fast

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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/<desiredpolicyrepoid>/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