feat(openpi): add native PyTorch LIBERO integration - #1401
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Chernobyllight wants to merge 3 commits into
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feat(openpi): add native PyTorch LIBERO integration#1401Chernobyllight wants to merge 3 commits into
Chernobyllight wants to merge 3 commits into
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Integrate the pi0.5-LIBERO policy as a local PyTorch runner with native network definitions, checkpoint conversion and parity tools. Add local and ROS closed-loop launchers, task-selectable BDDL/init-state evaluation, video/action/metrics output, and reproducibility documentation.
Restore the shared LightX2V inference entry to the ModelTC upstream implementation. Move single-observation OpenPI execution into its own runner module, retain closed-loop and ROS paths, and apply the repository Ruff formatting and naming requirements.
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Integrate the pi0.5-LIBERO policy as a local PyTorch runner with native
network definitions, checkpoint conversion and parity tools. Add local
and ROS closed-loop launchers, task-selectable BDDL/init-state evaluation,
video/action/metrics output, and reproducibility documentation.