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Hugging Face Integration

Several policies download assets from Hugging Face Hub (for example, SmolVLA, Pi0, and other Hub-backed models).

If HF_TOKEN is not set, the backend logs a warning and Hub access is unauthenticated.

Set HF_TOKEN for any workflow that depends on Hugging Face-hosted assets. Without a token, model downloads may fail (for example, due to anonymous rate limits or access restrictions on gated/private repositories).

Required token permissions

For model download in Physical AI Studio, use a token with read-only Hub access:

  • Required: Read permission for model repositories.
  • Not required: Write or admin permissions.
  • If using gated/private models: the token must belong to a Hugging Face account that has been granted access to those repositories.

If you use a fine-grained token, grant read access to the specific model repos you plan to train from.

Create a Hugging Face token

  1. Sign in to huggingface.co.
  2. Open Settings -> Access Tokens.
  3. Create a new token.
  4. Set permissions to read-only model access (see required permissions above).
  5. Copy the token value.

Configure HF_TOKEN

Set HF_TOKEN in the environment used by the backend.

Native backend

Add the token to application/backend/.env:

HF_TOKEN=hf_xxxxxxxxxxxxxxxxxxxxxxxxxxxxx

Then start the backend as usual:

cd application/backend
./run.sh

Docker deployment

Add the token to application/docker/.env:

HF_TOKEN=hf_xxxxxxxxxxxxxxxxxxxxxxxxxxxxx

Then run Docker Compose as usual:

cd application/docker
docker compose up

Verify setup

  • Start a training job for a Hub-backed policy (for example, SmolVLA or Pi0).
  • Confirm there is no warning about missing HF_TOKEN.

Security notes

  • Never commit real tokens to source control.
  • Store tokens in local .env files or your secret manager.
  • Rotate the token immediately if it is exposed.