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--- |
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library_name: lerobot |
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tags: |
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- diffusion-policy |
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- model_hub_mixin |
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- pytorch_model_hub_mixin |
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- robotics |
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--- |
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This model has been pushed to the Hub using the [PytorchModelHubMixin](https://huggingface.co/docs/huggingface_hub/package_reference/mixins#huggingface_hub.PyTorchModelHubMixin) integration: |
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- Library: https://github.com/huggingface/lerobot |
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- Docs: [More Information Needed] |
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## Quickstart |
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The checkpoint in this repository is obtained by running [the Flower x LeRobot quickstart-example](https://github.com/adap/flower/tree/main/examples/quickstart-lerobot). This is the global model at round 35 which seemed to give good results. |
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### Install LeRobot |
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> [!NOTE] |
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> Install the version of LeRobot used by the example (the latest commit at the time the example was put together, mid Dec'24). You might want to try using a more recente version. |
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```shell |
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pip install "lerobot[pusht] @ git+https://github.com/huggingface/lerobot.git@96c7052777aca85d4e55dfba8f81586103ba8f61" |
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``` |
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### Load checkpoint |
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```python |
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from lerobot.common.policies.diffusion.configuration_diffusion import DiffusionConfig |
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from lerobot.common.policies.diffusion.modeling_diffusion import DiffusionPolicy |
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from lerobot.common.datasets.lerobot_dataset import LeRobotDataset |
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dataset = LeRobotDataset("lerobot/pusht") |
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cfg = DiffusionConfig(down_dims=[256, 512, 1024]) |
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policy = DiffusionPolicy(cfg, dataset_stats=dataset.stats) |
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policy.from_pretrained("jafermarq/lerobot123") |
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print(policy) |
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``` |
