Step 7: Training — Model Weights
After training on the cloud GPU, you can package the model and download it locally:
Shell
cd ~/output_lerobot_train/a/checkpoints/last
zip -r ~/ckpt.zip pretrained_modelEvery 20K steps, a model weight file is saved
Right-click to download the ckpt.zip archive and extract it on your local computer
If the model also needs to be passed to someone else, or you plan to run inference on a different computer, uploading it directly to Hugging Face is more convenient than packaging and downloading it, see Upload a model to HuggingFace (Optional).
Handshake
Shell
# 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