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 adapting pi0 models to custom datasets, converting JAX checkpoints to PyTorch, running policy inference servers, or debugging norm stats and GPU memory issues.
安装
npx skills add Orchestra-Research/AI-Research-SKILLs --skill fine-tuning-serving-openpinpx skills add Orchestra-Research/AI-Research-SKILLs --skill fine-tuning-serving-openpi -a claude-code -gnpx skills add Orchestra-Research/AI-Research-SKILLs --skill fine-tuning-serving-openpi -a codex -ggemini skills install https://github.com/Orchestra-Research/AI-Research-SKILLs.git --path 18-multimodal/openpigh skill install Orchestra-Research/AI-Research-SKILLs fine-tuning-serving-openpigit clone --depth 1 https://github.com/Orchestra-Research/AI-Research-SKILLs /tmp/Orchestra-Research__AI-Research-SKILLs
mkdir -p ~/.claude/skills ~/.agents/skills
cp -R /tmp/Orchestra-Research__AI-Research-SKILLs/18-multimodal/openpi ~/.claude/skills/fine-tuning-serving-openpi # Claude Code
cp -R /tmp/Orchestra-Research__AI-Research-SKILLs/18-multimodal/openpi ~/.agents/skills/fine-tuning-serving-openpi # Codex, Cursor, Gemini CLI, Copilot, OpenCode