测试与安全

fine-tuning-openvla-oft

Name: fine-tuning-openvla-oft
Author: orchestra-research

orchestra-research/ai-research-skills

Fine-tunes and evaluates OpenVLA-OFT and OpenVLA-OFT+ policies for robot action generation with continuous action heads, LoRA adaptation, and FiLM conditioning on LIBERO simulation and ALOHA real-world setups. Use when reproducing OpenVLA-OFT paper results, training custom VLA action heads (L1 or diffusion), deploying server-client inference for ALOHA, or debugging normalization, LoRA merge, and cross-GPU issues.

877 次安装
1.4万星标
收录于 2026.03.18

安装命令

$ npx skills add https://github.com/orchestra-research/ai-research-skills --skill fine-tuning-openvla-oft

SKILL.md

OpenVLA-OFT

Fine-tuning and evaluation workflows for OpenVLA-OFT and OpenVLA-OFT+ from the official openvla-oft codebase. Covers blank-machine setup plus LoRA-based adaptation of OpenVLA for robot action generation with continuous action prediction heads.

Quick start

Clone the public repo, follow the official setup, then evaluate a pretrained LIBERO checkpoint:

git clone https://github.com/moojink/openvla-oft.git
cd openvla-oft
python experiments/robot/libero/run_libero_eval.py \
  --pretrained_checkpoint moojink/openvla-7b-oft-finetuned-libero-spatial \
  --task_suite_name libero_spatial \
  --center_crop True \
  --num_trials_per_task 50 \
  --seed 7

SKILL.md

OpenVLA-OFT

Quick start

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