Pi-0 (rm65b insert cns)
LeRobot policy checkpoints uploaded by goal_gen/upload_hf_checkpoints.sh.
Each subfolder contains the deployment-ready pretrained_model/ payload
(model.safetensors + config.json + pre/postprocessor + train_config.json).
| Subfolder | Train step | Final train loss |
|---|---|---|
checkpoint-030000 |
30,000 | 0.033 |
Usage
from huggingface_hub import snapshot_download
ckpt_dir = snapshot_download(
"JayCao99/pi0-rm65b-cns-v0.0",
allow_patterns="checkpoint-030000/*",
)
from lerobot.policies.pi0.modeling_pi0 import PI0Policy
policy = PI0Policy.from_pretrained(f"{ckpt_dir}/checkpoint-030000")