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Fine-tuning an i4h workflow policy (GR00T or openpi) v1.0.0

Use this resource to fine-tune an i4h workflow policy on compatible LeRobot data

New

  • 437 downloads
  • 169 likes
  • 169 saves

Free

Install with the CLI

In a terminal, from the folder you want:

npx --yes palatekit@latest install workflow-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 identifies the workflow, remote task and data, checks for a train block, then dry-runs the exact configuration. It runs training in the foreground and verifies the checkpoint artifacts.

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Updated November 2, 2026

Card for the “Fine-tuning an i4h workflow policy (GR00T or openpi)” skill

Details

Works in
Install guides
Generates with
Your agent's model
Licence
Apache-2.0

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What you get

  • SKILL.md: resolution, training and verification
  • BENCHMARK.md: evaluation criteria
  • evals/evals.json: test cases

Good fit for

  • You want to fine-tune a GR00T policy on your LeRobot demonstrations
  • You must check a training configuration before a long run

Not for

    Tags

    • i4h
    • policy
    • fine-tuning
    • lerobot

    About

    You say

    “Fine-tune the GR00T policy of my workflow on my compatible LeRobot data.”

    Card for the “Fine-tuning an i4h workflow policy (GR00T or openpi)” skill

    Skill published by nvidia under the Apache-2.0 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 an i4h workflow policy on compatible LeRobot data
    3. Review and adjust the result

    Content preview

    Files

    • BENCHMARK.md6.8 KB
    • evals/evals.json1.7 KB
    • LICENSE11.3 KB
    • NOTICE-PALATEKIT.md0.5 KB
    • skill-card.md4 KB
    • SKILL.md5.8 KB
    • skill.oms.sig4.5 KB

    Origin and licence

    Listed unmodified

    Author
    nvidia
    Source
    github.com/nvidia/skills/tree/ca116d60beafe1b4459f0ab790b7b450912c56b0/skills/i4h-workflow-finetune
    Licence
    Apache-2.0

    Notice

    « i4h-workflow-finetune » (nvidia, Apache-2.0) livré dans sa version d'origine : fiche en français et en anglais par PalateKit.

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