Obtain the Model Weight File

cd ~/output_lerobot_train/a/checkpoints/last
zip -r ~/ckpt.zip pretrained_model

Every 20K steps, a model weight file is saved

Right-click to download the ckpt.zip archive and extract it on your local computer

Handshake

# Save the model at the specified training step
# cd ~/output_lerobot_train/shake/diffusion/checkpoints/005000

# The latest model
cd ~/output_lerobot_train/shake/wallx/checkpoints/last
zip -r ~/ckpt.zip pretrained_model