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Add link to public aloha data in README.md (#259)

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This PR adds a missing link to the public ALOHA data of the pen uncap
task etc.
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uzhilinsky
2025-02-05 14:58:52 -08:00
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parent 231a1cf7ca ed11c29742
commit 153e34cefe
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README.md
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@@ -66,7 +66,7 @@ We also provide "expert" checkpoints for various robot platforms and tasks. Thes
| $\pi_0$-DROID | Fine-Tuning | $\pi_0$ model fine-tuned on the [DROID dataset](https://droid-dataset.github.io/), faster inference than $\pi_0$-FAST-DROID, but may not follow language commands as well | `s3://openpi-assets/checkpoints/pi0_droid` |
| $\pi_0$-ALOHA-towel | Inference | $\pi_0$ model fine-tuned on internal ALOHA data, can fold diverse towels 0-shot on [ALOHA](https://tonyzhaozh.github.io/aloha/) robot platforms | `s3://openpi-assets/checkpoints/pi0_aloha_towel` |
| $\pi_0$-ALOHA-tupperware | Inference | $\pi_0$ model fine-tuned on internal ALOHA data, can unpack food from a tupperware container | `s3://openpi-assets/checkpoints/pi0_aloha_tupperware` |
| $\pi_0$-ALOHA-pen-uncap | Inference | $\pi_0$ model fine-tuned on [public ALOHA data](XXX), can uncap a pen | `s3://openpi-assets/checkpoints/pi0_aloha_pen_uncap` |
| $\pi_0$-ALOHA-pen-uncap | Inference | $\pi_0$ model fine-tuned on [public ALOHA data](https://dit-policy.github.io/), can uncap a pen | `s3://openpi-assets/checkpoints/pi0_aloha_pen_uncap` |
By default, checkpoints are automatically downloaded from `s3://openpi-assets` and are cached in `~/.cache/openpi` when needed. You can overwrite the download path by setting the `OPENPI_DATA_HOME` environment variable.