Create README.md (#1)

- Create README.md (1a3c1fd184d60154e1e32e24eb9b73e4f99787d7)


Co-authored-by: Delin Qu <[email protected]>

README.md

@@ -0,0 +1,46 @@
+---
+license: mit
+base_model:
+- google/paligemma-3b-pt-224
+tags:
+- lerobot
+- torch
+- pi0
+datasets:
+- IPEC-COMMUNITY/bridge_orig_lerobot
+---
+
+
+
+download the model
+
+```bash
+huggingface-cli download --resume-download --local-dir-use-symlinks False ${model} --local-dir $(basename ${model})
+```
+
+install the [lerobot](https://github.com/huggingface/lerobot) package first
+
+```python
+def auto_model_from_pretrained(path, **kwargs):
+    import sys
+    sys.path.append(path)  # noqa
+
+    map_location = kwargs.pop("map_location", "cpu")
+    from modeling_pi0 import PI0Policy
+    return PI0Policy.from_pretrained(path, **kwargs).to(map_location)
+
+
+policy = auto_model_from_pretrained(saved_model_path, map_location="cuda")
+
+state = torch.rand(8)
+image = np.array(Image.open("test/example.png"))
+image = torch.from_numpy(image / 255).permute(2, 0, 1)
+
+observation = {
+    "observation.state": state.unsqueeze(0).to("cuda"),
+    "observation.images.image_0": image.unsqueeze(0).to("cuda"),
+    "task": ["put the object in the box"],
+}
+
+action_chunk = policy.select_action(observation)[0].cpu().numpy()
+```