magiclab01/pi0_Magicbot_PnP_fruits

Usage

The model weights are stored in the 80000 subdirectory of the repository, which is a pi0 Orbax checkpoint used for inference on Magicbot Gen1 robot. Please refer to magicbot-gen1_pi0_demo project for detailed information.

Use the following code to load the model:

from huggingface_hub import snapshot_download
import orbax.checkpoint
import os

# Download the repository
checkpoint_dir = snapshot_download(repo_id="magiclab01/pi0-Magicbot-PnP-fruits")
checkpoint_subdir = os.path.join(checkpoint_dir, "80000")

# Load Orbax checkpoint
checkpointer = orbax.checkpoint.PyTreeCheckpointer()
state_dict = checkpointer.restore(checkpoint_subdir)