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refactor(pi052): load native base checkpoint

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Pepijn
2026-07-28 12:32:43 +02:00
parent 6ac10f2a13
commit f2c8867df1
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docs/source/pi052.mdx
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@@ -92,14 +92,14 @@ recipe resolver.
## Train Pi052
This example initializes Pi052 from the public Pi05 base checkpoint and trains
the default subtask-and-memory recipe:
This example initializes Pi052 from the native Pi052 initialization checkpoint
and trains the default subtask-and-memory recipe:
```bash
lerobot-train \
--dataset.repo_id=${HF_USER}/my_language_annotated_dataset \
--policy.type=pi052 \
--policy.pretrained_path=lerobot/pi05_base \
--policy.pretrained_path=lerobot/pi052_base \
--policy.recipe_path=recipes/subtask_mem.yaml \
--policy.dtype=bfloat16 \
--policy.device=cuda \