Repository: https://github.com/isaac-for-healthcare/i4h-workflows

openpi_pi0 — openpi PI0

uv project for the openpi PI0 stack (JAX-based). Hosts ultrasound liver-scan PI0 inference.

Env	Model
ultrasound_liver_scan	nvidia/Liver_Scan_Pi0_Cosmos_Rel

workflows/agentic/policy/openpi_pi0/setup.sh                                 # ensure shared third_party + uv sync
workflows/agentic/policy/openpi_pi0/run.sh --env ultrasound_liver_scan

Setup mirrors tools/env_setup/install_pi0.sh:

• Uses workflows/agentic/third_party/openpi-581e07d @ 581e07d73.
• Patches src/openpi/training/utils.py (type-hint loosening).
• Patches pyproject.toml to bump jax[cuda12] to 0.5.3 for sm_120 (Blackwell) compat.
• Copies scripts/train.py and scripts/compute_norm_stats.py into src/openpi/ so the module imports resolve.
• uv sync installs openpi and openpi-client editable.

Policy inference mirrors workflows/robotic_ultrasound/scripts/policy/pi0/runners.py: PI0 infer({room, wrist, joint_positions}) -> chunk(50,6). Actions are relative joint positions — the runtime must integrate them against the current pose.