upload model

README.md

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+---
+license: apache-2.0
+datasets:
+- anthonyav/so100-lego-v3
+language:
+- zh
+- en
+base_model:
+- lerobot/pi0fast_base
+---
+# Model Description
+so100-pi0fast is the finetuned result of Hangzhou Theseus Yihai Rong Silicon Technology Co., LTD.  based on the lerobot/pi0fast-base model and the anthonyav/so100-lego-v3 dataset
+# How to use
+```shell
+from lerobot.common.policies.pi0fast.modeling_pi0fast import PI0FASTPolicy
+
+policy = PI0FASTPolicy.from_pretrained("Xiaoyan97/so100-pi0fast")
+policy.eval()
+device = "cuda" if torch.cuda.is_available() else "cpu"
+policy.to(device)
+while True:
+    start_time = time.perf_counter()
+    obs = robot.capture_observation()
+    for key in obs:
+        if "image" in key:
+            img = obs[key].type(torch.float32) / 255
+            obs[key] = img.permute(2, 0, 1).unsqueeze(0)
+        else:
+            obs[key] = obs[key].unsqueeze(0)
+            obs[key] = obs[key]
+        obs["task"] = [prompt]
+    with torch.no_grad():
+        action = policy.select_action(obs).squeeze(0).cpu().numpy()
+    robot.send_action(torch.tensor(action))
+    dt = time.perf_counter() - start_time
+    busy_wait(1 / 30 - dt)
+    print(f"Frame processed in {dt:.4f} seconds")
+```