research-openpi
Fine-tune and serve Physical Intelligence OpenPI models (pi0, pi0-fast, pi0.5) using JAX or PyTorch backends for robot policy inference across ALOHA, DROID, and LIBERO environments. Use when adapti...
来源信息
- 仓库
- GrayCodeAI/starling
- 最近来源活动
- 2026年7月13日 09:28
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SKILL.md
来源说明 · 只读预览- name
- research-openpi
- description
- Fine-tune and serve Physical Intelligence OpenPI models (pi0, pi0-fast, pi0.5) using JAX or PyTorch backends for robot policy inference across ALOHA, DROID, and LIBERO environments. Use when adapti...
- license
- MIT
- tags
- ["openpi","physical-intelligence","vla","robotics","jax"]
- version
- 1.0.0
- author
- Orchestra Research
- dependencies
- ["uv>=0.4.0","jax>=0.4.30","torch>=2.1.0","transformers>=4.53.2"]
## Advanced topics
**Config recipes and baselines**: See references/config-recipes.md
**Training debugging guide**: See references/training-debugging.md
**Checkpoint and environment mapping**: See references/checkpoints-and-env-map.md
**Remote client integration**: See references/remote-client-pattern.md
**PyTorch precision and patching gotchas**: See references/pytorch-gotchas.md
## Resources
- OpenPI repository: https://github.com/Physical-Intelligence/openpi
- OpenPI client package: https://github.com/Physical-Intelligence/openpi/tree/main/packages/openpi-client
- pi0 paper: https://www.physicalintelligence.company/blog/pi0
- LeRobot dataset format: https://huggingface.co/docs/lerobot
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