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Model Download and Dependency Preparation

📦 Offline model dependency setup for ACT, SmolVLA, Pi0, Pi0.5, XVLA.

⚠️ Dependency conflicts first

  • Pi0/Pi0.5 conflicts with SmolVLA/XVLA on transformers
  • Use separate conda envs per model family

Suggested env split:

  • lerobot-act: ACT
  • lerobot-vla: SmolVLA / XVLA
  • lerobot-pi: Pi0 / Pi0.5

1. ACT

mkdir -p ~/.cache/torch/hub/checkpoints
wget https://download.pytorch.org/models/resnet18-f37072fd.pth -O ~/.cache/torch/hub/checkpoints/resnet18-f37072fd.pth

2. SmolVLA

mkdir -p ~/.cache/huggingface/hub/models--lerobot--smolvla_base
mkdir -p ~/.cache/huggingface/hub/models--HuggingFaceTB--SmolVLM2-500M-Video-Instruct

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/smolvla_base"/* \
  ~/.cache/huggingface/hub/models--lerobot--smolvla_base/

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/smolvla_模型依赖/SmolVLM2-500M-Video-Instruct"/* \
  ~/.cache/huggingface/hub/models--HuggingFaceTB--SmolVLM2-500M-Video-Instruct/

lerobot-env
pip install 'transformers>=4.57.1' 'num2words>=0.5.14' 'accelerate>=1.7.0' 'safetensors>=0.4.3' \
  -i https://mirrors.aliyun.com/pypi/simple/

3. Pi0

mkdir -p ~/.cache/huggingface/hub/models--lerobot--pi0_base
mkdir -p ~/.cache/huggingface/hub/models--google--paligemma-3b-pt-224
mkdir -p ~/.cache/huggingface/hub/models--physical-intelligence--fast

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/pi0_base"/* \
  ~/.cache/huggingface/hub/models--lerobot--pi0_base/

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/pi0_pi0fast_视觉依赖/paligemma-3b-pt-224"/* \
  ~/.cache/huggingface/hub/models--google--paligemma-3b-pt-224/

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/Pi0_Pi0fast_WALLX_动作编码依赖/physical-intelligence-fast"/* \
  ~/.cache/huggingface/hub/models--physical-intelligence--fast/

lerobot-env
pip install "transformers @ git+https://ghp.ci/https://github.com/huggingface/transformers.git@fix/lerobot_openpi"

4. Pi0.5

mkdir -p ~/.cache/huggingface/hub/models--lerobot--pi05_base
mkdir -p ~/.cache/huggingface/hub/models--google--paligemma-3b-pt-224
mkdir -p ~/.cache/huggingface/hub/models--physical-intelligence--fast

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/pi05_base"/* \
  ~/.cache/huggingface/hub/models--lerobot--pi05_base/

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/pi0_pi0fast_视觉依赖/paligemma-3b-pt-224"/* \
  ~/.cache/huggingface/hub/models--google--paligemma-3b-pt-224/

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/Pi0_Pi0fast_WALLX_动作编码依赖/physical-intelligence-fast"/* \
  ~/.cache/huggingface/hub/models--physical-intelligence--fast/

lerobot-env
pip install "transformers @ git+https://ghp.ci/https://github.com/huggingface/transformers.git@fix/lerobot_openpi"

5. XVLA (LeRobot 0.4.3)

mkdir -p ~/.cache/huggingface/hub/models--lerobot--xvla-base
mkdir -p ~/.cache/huggingface/hub/models--facebook--bart-large

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/xvla-base"/* \
  ~/.cache/huggingface/hub/models--lerobot--xvla-base/

cp -r "/media/openarm/新加卷/weilindong/888/训练模型/xvla_模型依赖/bart-large"/* \
  ~/.cache/huggingface/hub/models--facebook--bart-large/

lerobot-env
pip install 'transformers>=4.57.1' -i https://mirrors.aliyun.com/pypi/simple/

✅ Verification suggestions

  • Confirm cache directories include key files such as config.json and model.safetensors
  • Run lerobot-train --help in target env to verify dependencies import correctly