tools
openpi
Open-source robotics models and packages for running, fine-tuning, and serving vision-language-action policies.
In inglese
openpi provides open-source π₀, π₀-FAST, and π₀.₅ vision-language-action models for robotics. It includes base and fine-tuned checkpoints, inference examples, training scripts, PyTorch support, and a remote policy server.
Researchers and robotics developers can adapt the models to datasets and platforms such as DROID, ALOHA, and LIBERO. It is not a hosted service; users provide compatible hardware and software environments. The repository currently targets Ubuntu 22.04 with an NVIDIA GPU and does not support other operating systems.
Features
- Provides π₀, π₀-FAST, and π₀.₅ vision-language-action models
- Includes base checkpoints pretrained on 10k+ hours of robot data
- Supports inference and fine-tuning on custom datasets
- Offers JAX and PyTorch implementations
- Runs a policy server for local or remote robot inference
- Streams actions to robots over a websocket connection
- Includes examples for DROID, ALOHA, and LIBERO
- Licensed under Apache-2.0
Use cases
- Fine-tune a base VLA model on a custom robot dataset
- Run pretrained policies on DROID or ALOHA robots
- Serve inference from a more powerful off-robot GPU
- Evaluate robot policies with the LIBERO benchmark
- Convert JAX checkpoints to PyTorch format
Pros
Cons
Capabilities
- Command line — “Now we can kick off training with the following command” source
- Choice of models — “Currently, this repo contains three types of models:” source
- Self-hosted — “To run the models in this repository, you will need an NVIDIA GPU with at least the following specifications.” source
- API — “The PyTorch implementation uses the same API as the JAX version - you only need to change the checkpoint path to point to the converted PyTorch model:” source
Get it
Pricing
- Starting price
- $4/user/mo
- Prices checked
- 2026-09-25
Free
Free
- Unlimited public/private repositories
- Dependabot security and version updates
- 2,000 CI/CD minutes/month
- 500MB of Packages storage
- Issues & Projects
- Community support
Team
- $4 per user/month
- Access to GitHub Codespaces
- Repository rules
- Multiple reviewers in pull requests
- Draft pull requests
- Code owners
- 3,000 CI/CD minutes/month
Enterprise
- Starting at $21 per user/month
- Data residency
- Enterprise Managed Users
- User provisioning through SCIM
- Enterprise account to centrally manage multiple organizations
- Environment protection rules
- Audit Log API