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How to use the finetune model to infer? when i train a single task, after 5000 steps, it generate these files, how i use these files to infer? · Issue #10 · HongzheBi/H_RDT · GitHub
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How to use the finetune model to infer? when i train a single task, after 5000 steps, it generate these files, how i use these files to infer? #10
See P66-P87(self.policy = HRDTRunner.from_pretrained(...) in "H-RDT/inference/robotwin2_example/H-RDT/deploy_policy.py", you need to create a folder like checkpoint-5k and put in the "config.json" and "pytorch_model.bin" from 5k checkpoints, which are needed to load weights during inference.
In principle, the HRDTRunner class of hrdt_runner.py inherits from hub_mixin.py(available in both H-RDT/utils and H-RDT/inference/robotwin2_example/H-RDT/utils folders), This file has the "from_pretrained" method to load Pytorch pretrained weights and return the loaded model.
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HongzheBi commentedon Aug 28, 2025
See P66-P87(self.policy = HRDTRunner.from_pretrained(...) in "H-RDT/inference/robotwin2_example/H-RDT/deploy_policy.py", you need to create a folder like checkpoint-5k and put in the "config.json" and "pytorch_model.bin" from 5k checkpoints, which are needed to load weights during inference.
HongzheBi commentedon Aug 28, 2025
In principle, the HRDTRunner class of hrdt_runner.py inherits from hub_mixin.py(available in both H-RDT/utils and H-RDT/inference/robotwin2_example/H-RDT/utils folders), This file has the "from_pretrained" method to load Pytorch pretrained weights and return the loaded model.