Fine Tuning Serving Openpi

If you're working with Physical Intelligence's OpenPI models for robot manipulation, this handles the full pipeline from blank machine setup through fine-tuning to serving. It covers both JAX and PyTorch training paths, checkpoint conversion between frameworks, and spins up policy inference servers for pi0, pi0-fast, and pi0.5. The quick start gets you serving a pretrained policy in four commands, which is about as friction-free as robotics tooling gets. Useful if you're prototyping manipulation tasks and don't want to spend days wiring up the training infrastructure yourself. The repository integration is straightforward, though you'll need comfort with both JAX and PyTorch ecosystems depending on your path.

Install to Claude Code

npx -y skills add orchestra-research/ai-research-skills --skill fine-tuning-serving-openpi --agent claude-code