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1git clone https://github.com/AiSaurabhPatil/openpi.git
2cd openpi
3uv sync1from huggingface_hub import snapshot_download
2
3# Download checkpoint
4checkpoint_path = snapshot_download(
5 repo_id="AiSaurabhPatil/openarm-pi05-finetuned",
6 local_dir="./checkpoints/pi05_openarm/openarm_pi0.5_finetuned/5000"
7)
8
9# Run inference server
10# Terminal 1:
11# XLA_PYTHON_CLIENT_MEM_FRACTION=0.55 uv run scripts/serve_policy.py policy:checkpoint \
12# --policy.config=pi05_openarm \
13# --policy.dir=./checkpoints/pi05_openarm/openarm_pi0.5_finetuned/5000
14
15# Terminal 2:
16# python scripts/openarm_policy_client.py \
17# --task="grab the electric screwdriver from the table and drop it inside the box"├── params/ # Model weights (Orbax checkpoint format)
├── assets/ # Normalization statistics
└── _CHECKPOINT_METADATA # Checkpoint metadata1@software{openpi2025,
2 author = {Physical Intelligence},
3 title = {OpenPI: Open-source Pi Foundation Models},
4 year = {2025},
5 url = {https://github.com/Physical-Intelligence/openpi}
6}