metadata
license: apache-2.0
library_name: lerobot
pipeline_tag: robotics
π0+FAST: Efficient Action Tokenization for Vision-Language-Action Models
Designed by Physical Intelligence. Ported from Jax by Hugging Face.
Example of finetuning the pi0+FAST pretrained model (pi0_fast_base in openpi):
python lerobot/scripts/train.py \
--policy.path=lerobot/pi0fast_base \
--dataset.repo_id=danaaubakirova/koch_test
Example of training the pi0+FAST neural network with from scratch:
python lerobot/scripts/train.py \
--policy.type=pi0fast \
--dataset.repo_id=danaaubakirova/koch_test
Example of using the pi0 pretrained model outside LeRobot training framework:
policy = PI0FASTPolicy.from_pretrained("lerobot/pi0fast_base")