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‎.dockerignore

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.venv
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checkpoints
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data

‎.github/CODEOWNERS

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# The CODEOWNERS file defines individuals or teams that are automatically requested for
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# review when someone opens a pull request that modifies certain code. When a draft pull
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# request is marked as ready for review, code owners are automatically notified.
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#
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# See: https://docs.github.com/en/repositories/managing-your-repositorys-settings-and-features/customizing-your-repository/about-code-owners
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#
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# This is a comment.
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# Each line is a file pattern followed by one or more owners.
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# Global owners.
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* @jimmyt857 @Michael-Equi @uzhilinsky
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src/openpi/models/ @kvablack @uzhilinsky
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src/openpi/training/ @kvablack @uzhilinsky
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scripts/ @jimmyt857 @kvablack @uzhilinsky

‎.github/workflows/pre-commit.yml

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name: pre-commit
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on:
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push:
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branches:
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- main
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pull_request:
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branches:
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- "*"
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jobs:
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pre-commit:
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runs-on: ubuntu-latest
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env:
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GIT_LFS_SKIP_SMUDGE: true
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v3
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- uses: pre-commit/[email protected]

‎.github/workflows/test.yml

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name: Test
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on:
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pull_request:
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branches:
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- "*"
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jobs:
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run_tests:
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name: Run Tests
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runs-on: verylarge
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env:
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GIT_LFS_SKIP_SMUDGE: true
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steps:
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- uses: actions/checkout@v4
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- name: Install uv
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uses: astral-sh/setup-uv@v5
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- name: Set up Python
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run: uv python install
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- name: Install the project
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run: uv sync --all-extras --dev
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- name: Run tests
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run: uv run pytest --strict-markers -m "not manual"

‎.gitignore

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# Data directories.
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assets/
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checkpoints/
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data/
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wandb/
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# Byte-compiled / optimized / DLL files
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__pycache__/
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*.py[cod]
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*$py.class
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# C extensions
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*.so
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# Distribution / packaging
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# PyInstaller
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# Usually these files are written by a python script from a template
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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*.manifest
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*.spec
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# Installer logs
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pip-log.txt
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pip-delete-this-directory.txt
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# Unit test / coverage reports
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htmlcov/
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.tox/
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.nox/
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.coverage
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.coverage.*
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.cache
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nosetests.xml
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coverage.xml
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*.cover
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*.py,cover
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.hypothesis/
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.pytest_cache/
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cover/
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# Translations
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*.mo
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*.pot
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# Django stuff:
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*.log
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local_settings.py
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db.sqlite3
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db.sqlite3-journal
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# Flask stuff:
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instance/
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.webassets-cache
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# Scrapy stuff:
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.scrapy
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# Sphinx documentation
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docs/_build/
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# PyBuilder
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.pybuilder/
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target/
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# Jupyter Notebook
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.ipynb_checkpoints
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# IPython
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profile_default/
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ipython_config.py
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# pyenv
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# For a library or package, you might want to ignore these files since the code is
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# intended to run in multiple environments; otherwise, check them in:
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# .python-version
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# pipenv
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# According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
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# However, in case of collaboration, if having platform-specific dependencies or dependencies
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# having no cross-platform support, pipenv may install dependencies that don't work, or not
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# install all needed dependencies.
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#Pipfile.lock
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# poetry
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# Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
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# This is especially recommended for binary packages to ensure reproducibility, and is more
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# commonly ignored for libraries.
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# https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
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#poetry.lock
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# pdm
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# Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
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#pdm.lock
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# pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
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# in version control.
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# https://pdm.fming.dev/latest/usage/project/#working-with-version-control
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.pdm.toml
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.pdm-python
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.pdm-build/
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# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
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__pypackages__/
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# Celery stuff
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celerybeat-schedule
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celerybeat.pid
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# SageMath parsed files
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*.sage.py
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# Environments
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.env
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.venv
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env/
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venv/
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ENV/
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env.bak/
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venv.bak/
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# Spyder project settings
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.spyderproject
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.spyproject
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# Rope project settings
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.ropeproject
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# mkdocs documentation
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/site
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# mypy
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.mypy_cache/
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.dmypy.json
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dmypy.json
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# Pyre type checker
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.pyre/
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# pytype static type analyzer
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.pytype/
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# Cython debug symbols
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cython_debug/
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# PyCharm
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# JetBrains specific template is maintained in a separate JetBrains.gitignore that can
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# be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
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# and can be added to the global gitignore or merged into this file. For a more nuclear
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# option (not recommended) you can uncomment the following to ignore the entire idea folder.
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#.idea/

‎.gitmodules

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[submodule "third_party/aloha"]
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path = third_party/aloha
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url = [email protected]:Physical-Intelligence/aloha.git
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[submodule "third_party/libero"]
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path = third_party/libero
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url = [email protected]:Lifelong-Robot-Learning/LIBERO.git

‎.pre-commit-config.yaml

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exclude: third_party/
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repos:
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- repo: https://github.com/astral-sh/uv-pre-commit
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# uv version.
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rev: 0.5.14
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hooks:
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- id: uv-lock
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- repo: https://github.com/astral-sh/ruff-pre-commit
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# Ruff version.
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rev: v0.8.6
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hooks:
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# Run the linter.
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- id: ruff
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args: [--fix]
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- id: ruff-format

‎.python-version

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3.11

‎.vscode/settings.json

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{
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"[python]": {
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"editor.defaultFormatter": "charliermarsh.ruff",
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"editor.formatOnSave": true,
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},
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"python.testing.pytestArgs": [
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"src"
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],
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"python.testing.unittestEnabled": false,
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"python.testing.pytestEnabled": true
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}

‎CONTRIBUTING.md

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# Contributing to openpi
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We welcome contributions, improvements, and modifications. Everyone is welcome to use openpi in accordance to the [license](LICENSE). Contributors are also welcome to submit bug reports, feature requests, and pull requests. We can't promise to approve every pull request, and we are a small team with limited bandwidth to review all requests, but we'll give it our best effort. Specifics are described below.
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## Issues and feature requests
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You are welcome to use the Github [discussion](https://github.com/Physical-Intelligence/openpi/discussions) feature if you would like to discuss something that is not directly reporting an issue or making a feature request. This is suitable for questions about how to use some aspect of openpi, or other topics.
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If you found a bug or other issue, please first check that the issue was not already reported (use the search bar on Github under Issues). If the issue has not yet been reported, please include this information when filing a Github issue:
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- Your OS type and version and the version of Python you are using
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- Code that allows us to reproduce your bug, including all dependencies
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- Traceback of any exception
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- Any other information that would help us, such as a screenshot
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In order for us to address any issue, we must be able to reproduce it, so if you encountered the issue after making modifications to openpi, please reproduce the issue without any other modifications and provide a code snippet that allows us to quickly reproduce the problem on `main`.
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If you would like to submit a feature request, please check that the feature request does not already exist, and please provide the following information:
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- The motivation for the feature
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- A description of the problem you are trying to solve or your use case
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- Enough information for us to understand the nature of the request
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- Some information for how you intend to use it (this might help us in understanding the motivation!)
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We can't promise to support every feature request, but it is helpful to us to know the use cases that you are interested in!
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## Submitting a pull request
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If you implemented support for a new robot or environment, or some other new feature, we welcome pull requests (PRs) to openpi. We encourage you to create a [feature request](https://github.com/Physical-Intelligence/openpi/issues) or make a post on the [discussion](https://github.com/Physical-Intelligence/openpi/discussions) board before starting to work on your PR, if you would like to get a sense for whether we are likely to approve your PR if it is submitted. Since we are a small team with limited ability to provide maintenance and support, we may not accept all PRs (e.g., if we believe it would make the code harder to maintain, or if reviewing the PR is out of scope for us), so contacting us in advance is a good way to get a sense for whether your PR is likely to get approved for merging into openpi directly. But even if it isn't, you are of course more than welcome to maintain your own fork with whatever modifications you would like. When creating PRs, we recommend every contribution to consider the following:
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- Make sure that your PR has a clear title and description
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- Run `pre-commit` (install using `pre-commit install` first), and run `ruff check .` and `ruff format .`
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- Make sure your PR passes all tests

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