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README.md
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@@ -14,9 +14,9 @@ pi0 fine-tuned from [`lerobot/pi0_base`](https://huggingface.co/lerobot/pi0_base
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on [`gdiazsrl/three_blocks_stack_sep22`](https://huggingface.co/datasets/gdiazsrl/three_blocks_stack_sep22)
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(296 episodes, 519,684 frames, 9 block-stacking tasks).
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## ⚠️ Checkpoint `
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This is an **intermediate checkpoint at step
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early so it can be evaluated while the run continues. It is not the final model.
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## Training configuration
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```bash
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python src/rosetta/rosetta/policy_bridge_node.py --ros-args \
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-p contract_path:=<path>/moonbot1.yaml \
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-p policy_path:=<downloaded>/checkpoint-
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```
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The deployment contract must match the dataset: this model was trained on
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on [`gdiazsrl/three_blocks_stack_sep22`](https://huggingface.co/datasets/gdiazsrl/three_blocks_stack_sep22)
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(296 episodes, 519,684 frames, 9 block-stacking tasks).
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## ⚠️ Checkpoint `015000` — training still in progress
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This is an **intermediate checkpoint at step 15,000 of 20,000**, published
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early so it can be evaluated while the run continues. It is not the final model.
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## Training configuration
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```bash
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python src/rosetta/rosetta/policy_bridge_node.py --ros-args \
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-p contract_path:=<path>/moonbot1.yaml \
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-p policy_path:=<downloaded>/checkpoint-015000
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```
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The deployment contract must match the dataset: this model was trained on
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