Setup Instructions for VLA Pi0 Policy and variants

Please refer to openpi repository for detailed setup instructions of Physical Intelligence policies.

An automated setup script is provided below in scripts/setup/vla/pi0_setup.sh.

After setting up OpenPI, you can install the rio specific dependencies by running:

uv sync --all-extras --group openpi

and run the example scripts in examples/vla/pi0.py as follows, this example uses dummy cameras and robot for testing.

python examples/vla/pi0.py

Finetuning example Droid XArm with Pi0.5

Please refer to the the pi0_droid_finetuning.md for instructions on how to finetune Pi0.5 with your custom data collected from a xArm robot.