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Fine-tuning and serving OpenPI pi0 robot models v1.0.0

Use this resource to fine-tune a pi0 model on your data and serve its inference policy

New

  • 421 downloads
  • 176 likes
  • 170 saves

Free

Install with the CLI

In a terminal, from the folder you want:

npx --yes palatekit@latest install openpi-robot-policy-finetuning

With no option, the skill goes to ~/.agents/skills/; add --agent claude-code (or codex, cursor…) to target an agent.

First time: connect the CLI with

npx --yes palatekit@latest login

The agent guides you through installing OpenPI, configuring JAX or PyTorch training on your data, converting checkpoints, then starting an inference server. It also covers normalization and GPU memory issues.

Mostly picked by

Updated November 2, 2026

Card for the “Fine-tuning and serving OpenPI pi0 robot models” skill

Details

Works in
Install guides
Generates with
Your agent's model
Licence
MIT

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What you get

  • SKILL.md: installation, JAX training and inference server
  • references/config-recipes.md, pytorch-gotchas.md, training-debugging.md, checkpoints-and-env-map.md and remote-client-pattern.md: recipes, pitfalls, troubleshooting and remote client

Good fit for

  • You adapt pi0 to a LeRobot dataset
  • You want to serve a robot policy in client-server mode

Not for

    Tags

    • robotics
    • pi0
    • training
    • inference

    About

    You say

    “Fine-tune pi0 on my LeRobot dataset and start the inference server.”

    Card for the “Fine-tuning and serving OpenPI pi0 robot models” skill

    Skill published by Orchestra Research under the MIT license, delivered in its original version.

    Show more

    How to use it

    1. Install the skill in your agent's skills folder
    2. Ask your agent to fine-tune a pi0 model on your data and serve its inference policy
    3. Review and adjust the result

    Content preview

    Files

    • LICENSE1.1 KB
    • NOTICE-PALATEKIT.md0.5 KB
    • references/checkpoints-and-env-map.md2.6 KB
    • references/config-recipes.md1.8 KB
    • references/pytorch-gotchas.md1.5 KB
    • references/remote-client-pattern.md1.2 KB
    • references/training-debugging.md1.2 KB
    • SKILL.md14.4 KB

    Origin and licence

    Listed unmodified

    Author
    Orchestra Research
    Source
    github.com/orchestra-research/ai-research-skills/tree/773a52944ba4747a18bd4ae9ade53fff041adcbc/18-multimodal/openpi
    Licence
    MIT

    Notice

    « fine-tuning-serving-openpi » (Orchestra Research, MIT) livré dans sa version d'origine : fiche en français et en anglais par PalateKit.

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