lerobot/pi0

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.