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physical-intelligence/openpi
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Python
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Apache-2.0
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I have an NVIDIA GPU with 10 GB VRAM and want to run inference with the physical-intelligence/openpi pi0 model on a DROID robot arm. Walk me through installing dependencies with uv and running the inference script with a live camera feed.
Help me fine-tune the pi0 model from physical-intelligence/openpi on my own robot teleoperation dataset using LoRA. What VRAM is required and what training command do I run?
Write a Python script using the openpi library to send a text instruction and a camera image array to the pi0.5 model and print the resulting action commands.
Set up a Docker container for running physical-intelligence/openpi inference on Ubuntu 22.04 with an NVIDIA GPU, following the repo's Docker instructions.
Explain the difference between the pi0, pi0-FAST, and pi0.5 model variants in physical-intelligence/openpi and when I should choose each one for a robot manipulation task.
Full explanation on explaingit →
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