Upload checkpoints to separate repo, add Path import

lerobot/src/lerobot/scripts/lerobot_train.py

@@ -478,12 +478,14 @@ def train(cfg: TrainPipelineConfig, accelerator: Accelerator | None = None):
                     try:
                         from huggingface_hub import HfApi
                         api = HfApi()
+                        checkpoint_repo = cfg.policy.repo_id + "-checkpoints"
+                        api.create_repo(checkpoint_repo, exist_ok=True)
                         api.upload_folder(
                             folder_path=checkpoint_dir,
-                            repo_id=cfg.policy.repo_id,
-                            path_in_repo=f"checkpoints/step_{step:06d}",
+                            repo_id=checkpoint_repo,
+                            path_in_repo=f"step_{step:06d}",
                         )
-                        logging.info(f"Uploaded checkpoint step {step} to HF")
+                        logging.info(f"Uploaded checkpoint step {step} to {checkpoint_repo}")
                         uploaded = True
                     except Exception as e:
                         logging.warning(f"Failed to upload checkpoint step {step}: {e}")