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 whe…
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name: fine-tuning-openvla-oft
description: 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.
version: 1.0.0
author: Orchestra Research
license: MIT
tags: [OpenVLA, OpenVLA-OFT, VLA, Robotics, Fine-Tuning, LIBERO, ALOHA, LoRA, FiLM, Action Chunking, Deployment, Continuous Actions]
dependencies: [torch==2.2.0, transformers>=4.40.0, peft==0.11.1, draccus==0.8.0, accelerate>=0.25.0, wandb>=0.16.0, fastapi>=0.100.0, uvicorn>=0.24.0, tensorflow==2.15.0, robosuite==1.4.0] # Exact pins: OpenVLA-OFT paper results were validated on torch==2.2.0, peft==0.11.1, tensorflow==2.15.0; upgrading torch may require re-tuning the LoRA adapter merge step and re-validating action head outputs
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# 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:
```bash
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 \… load the full skill through Skill Me