LeRobot version of Pi0 fine-tuned for 20k steps on the lerobot/aloha_sim_transfer_cube_scripted_image dataset.
Usage:
policy = PI0Policy.from_pretrained("BrunoM42/pi0_aloha_transfer_cube")
action = policy.select_action(batch)
Run evaluation:
python lerobot/scripts/eval.py --policy.path=BrunoM42/pi0_aloha_transfer_cube --env.type=aloha --env.task=AlohaTransferCube-v0 --env.episode_length=600 --eval.n_episodes=10 --eval.batch_size=10 --seed=42
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