riyampatel2001/llama_ros2

    # ROS2 Navigation Assistant LoRA

    This is a LoRA adapter trained on ROS2 navigation tasks. To use this model:

    ```python
    from transformers import AutoModelForCausalLM, AutoTokenizer, BitsAndBytesConfig
    from peft import PeftModel, PeftConfig
    import torch

    # Configure quantization
    bnb_config = BitsAndBytesConfig(
        load_in_4bit=True,
        bnb_4bit_quant_type="nf4",
        bnb_4bit_compute_dtype=torch.float16,
        bnb_4bit_use_double_quant=True,
    )

    # Load base model
    base_model = AutoModelForCausalLM.from_pretrained(
        "meta-llama/Llama-2-7b-hf",
        quantization_config=bnb_config,
        device_map="auto"
    )

    # Load LoRA adapter
    model = PeftModel.from_pretrained(
        base_model,
        "riyampatel2001/llama_ros2",
        device_map="auto"
    )

    # Load tokenizer
    tokenizer = AutoTokenizer.from_pretrained("meta-llama/Llama-2-7b-hf")
    ```