HaomingSong/openpi0-bridge-lora

download the model

huggingface-cli download --resume-download --local-dir-use-symlinks False ${model} --local-dir $(basename ${model})

launch the openpi0 server, please create the openpi environment first

export OPENPI_DATA_HOME=/PATH/TO/OPENPI_DATA_HOME
export LEROBOT_HOME=/PATH/TO/LEROBOT_HOME

uv run scripts/serve_policy.py policy:checkpoint \
    --policy.config=pi0_bridge_lora \
    --policy.dir=$THE_MODEL_PATH

TrainConfig(
    name="pi0_bridge_low_mem_finetune",
    model=pi0.Pi0Config(paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora"),
    data=LeRobotBridgeDataConfig(
        repo_id="local/bridge_lerobot",
        base_config=DataConfig(
            local_files_only=True,  # Set to True for local-only datasets.
            prompt_from_task=True,
        ),
    ),
    weight_loader=weight_loaders.CheckpointWeightLoader("s3://openpi-assets/checkpoints/pi0_base/params"),
    num_train_steps=30_000,
    freeze_filter=pi0.Pi0Config(
        paligemma_variant="gemma_2b_lora", action_expert_variant="gemma_300m_lora"
    ).get_freeze_filter(),
    ema_decay=None,
    num_workers=8,
),