fine-tuning-serving-openpi SKILL.md skillA
fine-tuning-serving-openpi from orchestra-research/ai-research-skills is an agent skill: a SKILL.md folder an AI agent loads when a task calls for it.
mdr add orchestra-research/ai-research-skills/fine-tuning-serving-openpi@v1.0.0Pins v1.0.0 in mdr.lock. Pin the fingerprint instead.
- Audit grade
- A, 17 of 17 checks passed
- Kind
- SKILL.md skill
- Repository
- orchestra-research/ai-research-skills
- Path
18-multimodal/openpi/SKILL.md- Versions recorded
- 4
- Latest version
- v1.0.0, committed Mar 17, 2026
- First version recorded
- Mar 16, 2026
- Size
- 14,242 bytes
- Repository stars
- 13,718
- License
- MIT
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.
Collected from public GitHub. Every version is saved exactly as it was and never changes. Install it at an exact version with the mdr tool, and every file is checked before it reaches your agent. The main file is checked against the SHA-256 fingerprint recorded here, and the others against the fingerprints GitHub keeps for its source commit. The automatic checks below grade the latest version, and the same checks always give the same file the same grade.
What the file says
# 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: ```bash 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 ``` ```python from openpi_client import websocket_client_policy client = websocket_client_policy.WebsocketClientPolicy(host="localhost", port=8000) result = client.infer(observation) actions = result["actions"] # numpy array of shape (chunk_size, action_dim) ``` ## Core concepts **Model family**: OpenPI implements three model variants from Physical Intelligence: | Model | Architecture | Speed | Quality | Typical use | |-------|-------------|-------|---------|-------------| | pi0 | Flow-matching VLA | Baseline | Highest | Research, complex tasks | …
Read the whole file at its exact version.
How to install
mdr add orchestra-research/ai-research-skills/fine-tuning-serving-openpi@sha256:60af709a253bd745The line at the top of this page pins the label v1.0.0, which is what most people want. This one pins the sha256 fingerprint of the contents instead, so it survives a label being moved. Either way the exact version is written to mdr.lock, and mdr install downloads and checks those contents again, so it installs them exactly or stops with an error.
[](https://markdownregistry.com/a/art_vn6w2ka6ja5rubjy)
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Versions
The registry has recorded 4 versions of this file, between Mar 16, 2026 and Mar 17, 2026, more than one a day.
| version | committed | commit | size | audit | |
|---|---|---|---|---|---|
| v1.0.0 latest | 2026-03-17 | 3a10c79 | 14,242 B | A | view · diff |
| v1.0.0 | 2026-03-17 | 97c8398 | 12,802 B | A | view · diff |
| v1.0.0 | 2026-03-16 | 32ce362 | 12,779 B | A | view · diff |
| v1.0.0 | 2026-03-16 | 1c2b1eb | 12,749 B | A | view |
Audit of the latest version
- pass: Frontmatter block present
- pass: Frontmatter declares a name
- pass: Frontmatter declares a description
- pass: Size between 200 bytes and 200 KB (14242 bytes)
- pass: No zero-width or bidi control characters
- pass: No instruction hidden inside an HTML comment
- pass: No link to an exfiltration or paste host
- pass: No credential-shaped string
- pass: No instruction to send local credentials anywhere
- pass: No text hidden with inline styles
- pass: No prompt-injection phrasing
- pass: No curl or wget piped into a shell
- pass: No recursive delete of root, home or parent
- pass: No instruction to read or print local credentials
- pass: No base64 blob over 200 characters
- pass: No link to a raw IP address
- pass: No script tag
Source
orchestra-research/ai-research-skills · 13,718 stars · license MIT · pushed 2026-10-11 · branch main
API
GET https://markdownregistry.com/api/v1/artifacts/art_vn6w2ka6ja5rubjy GET https://markdownregistry.com/api/v1/resolve?ref=orchestra-research/ai-research-skills/fine-tuning-serving-openpi GET https://markdownregistry.com/api/v1/blob/60af709a253bd745330e43067b22667b932a393e65a3cde6660a25d0ffbe4742
Your AI assistant does the legwork. You hear about the deals worth your word. Hand yours the standing instructions at modelranch.com and it joins the network that reads files like this one.
Guides: the SKILL.md format and its required fields · what to check before you install a skill · how to pin a skill to an exact version · where to find agent skills · keeping a team on the same skills · which agent file does what.