OpenPI Fine-Tuning and Serving

End-to-end workflows for fine-tuning and serving Physical Intelligence's OpenPI models (pi0, pi0-fast, pi0.5) on robot manipulation tasks from the public openpi repository. Covers blank-machine setup, JAX training, PyTorch training, checkpoint conversion, and policy inference serving.

Quick start

Clone the public repo, install the workspace, then serve a pretrained policy:

git clone --recurse-submodules https://github.com/Physical-Intelligence/openpi.git
cd openpi
GIT_LFS_SKIP_SMUDGE=1 uv sync
GIT_LFS_SKIP_SMUDGE=1 uv pip install -e .
uv run scripts/serve_policy.py --env DROID

from openpi_client import websocket_client_policy