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added finetune tutorial html file
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‎docs/droid-openpi-pipeline/.gitignore‎

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_site/
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.jekyll-cache/
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.sass-cache/
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.bundle/
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.gems/
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.home/
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.gem-spec-cache/
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vendor/

‎docs/droid-openpi-pipeline/Gemfile‎

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source "https://rubygems.org"
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gem "jekyll", "~> 4.3.3"
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gem "just-the-docs", "0.7.0"
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gem "webrick", "~> 1.8"

‎docs/droid-openpi-pipeline/Gemfile.lock‎

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GEM
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remote: https://rubygems.org/
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specs:
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addressable (2.9.0)
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public_suffix (>= 2.0.2, < 8.0)
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colorator (1.1.0)
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concurrent-ruby (1.3.6)
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em-websocket (0.5.3)
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eventmachine (>= 0.12.9)
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http_parser.rb (~> 0)
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eventmachine (1.2.7)
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ffi (1.17.4)
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ffi (1.17.4-arm64-darwin)
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ffi (1.17.4-x86_64-darwin)
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forwardable-extended (2.6.0)
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google-protobuf (3.25.8)
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google-protobuf (3.25.8-arm64-darwin)
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google-protobuf (3.25.8-x86_64-darwin)
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google-protobuf (3.25.8-x86_64-linux)
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http_parser.rb (0.8.1)
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i18n (1.14.8)
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concurrent-ruby (~> 1.0)
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jekyll (4.3.4)
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addressable (~> 2.4)
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colorator (~> 1.0)
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em-websocket (~> 0.5)
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i18n (~> 1.0)
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jekyll-sass-converter (>= 2.0, < 4.0)
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jekyll-watch (~> 2.0)
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kramdown (~> 2.3, >= 2.3.1)
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kramdown-parser-gfm (~> 1.0)
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liquid (~> 4.0)
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mercenary (>= 0.3.6, < 0.5)
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pathutil (~> 0.9)
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rouge (>= 3.0, < 5.0)
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safe_yaml (~> 1.0)
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terminal-table (>= 1.8, < 4.0)
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webrick (~> 1.7)
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jekyll-include-cache (0.2.1)
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jekyll (>= 3.7, < 5.0)
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jekyll-sass-converter (3.0.0)
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sass-embedded (~> 1.54)
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jekyll-seo-tag (2.9.0)
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jekyll (>= 3.8, < 5.0)
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jekyll-watch (2.2.1)
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listen (~> 3.0)
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just-the-docs (0.7.0)
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jekyll (>= 3.8.5)
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jekyll-include-cache
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jekyll-seo-tag (>= 2.0)
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rake (>= 12.3.1)
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kramdown (2.5.2)
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rexml (>= 3.4.4)
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kramdown-parser-gfm (1.1.0)
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kramdown (~> 2.0)
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liquid (4.0.4)
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listen (3.10.0)
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logger
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rb-fsevent (~> 0.10, >= 0.10.3)
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rb-inotify (~> 0.9, >= 0.9.10)
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logger (1.7.0)
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mercenary (0.4.0)
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pathutil (0.16.2)
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forwardable-extended (~> 2.6)
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public_suffix (6.0.2)
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rake (13.4.2)
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rb-fsevent (0.11.2)
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rb-inotify (0.11.1)
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ffi (~> 1.0)
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rexml (3.4.4)
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rouge (4.7.0)
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safe_yaml (1.0.5)
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sass-embedded (1.69.5)
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google-protobuf (~> 3.23)
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rake (>= 13.0.0)
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sass-embedded (1.69.5-arm64-darwin)
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google-protobuf (~> 3.23)
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sass-embedded (1.69.5-x86_64-darwin)
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google-protobuf (~> 3.23)
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terminal-table (3.0.2)
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unicode-display_width (>= 1.1.1, < 3)
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unicode-display_width (2.6.0)
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webrick (1.9.2)
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PLATFORMS
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arm64-darwin
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ruby
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x86_64-darwin
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x86_64-linux
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DEPENDENCIES
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jekyll (~> 4.3.3)
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just-the-docs (= 0.7.0)
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webrick (~> 1.8)
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BUNDLED WITH
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2.5.23

‎docs/droid-openpi-pipeline/README.md‎

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# DROID/OpenPI Lab Pipeline Site
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This directory is a standalone docs site.
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Public GitHub Pages URL after the workflow is enabled:
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```text
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https://wisc-hci.github.io/openpi/droid-openpi-pipeline/
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```
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## Jekyll path
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Use this when Ruby development headers are available:
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```bash
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cd docs/droid-openpi-pipeline
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bundle install
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bundle exec jekyll serve --host 127.0.0.1 --port 4000
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```
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Then open:
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```text
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http://127.0.0.1:4000/droid-openpi-pipeline/
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```
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## Local fallback path
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Use this on machines where Ruby/Jekyll native gems cannot build:
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```bash
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cd docs/droid-openpi-pipeline
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python3 preview.py --serve
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```
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Then open:
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```text
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http://127.0.0.1:4000/droid-openpi-pipeline/
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```

‎docs/droid-openpi-pipeline/_config.yml‎

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title: DROID/OpenPI Lab Pipeline
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description: Lab documentation for the DROID hardware, OpenPI policy server, CHTC fine-tuning, and real-robot deployment workflow.
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theme: just-the-docs
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url: "http://127.0.0.1:4000"
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baseurl: "/droid-openpi-pipeline"
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color_scheme: lab
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aux_links:
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OpenPI Repository: https://github.com/Wisc-HCI/openpi
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DROID Repository: https://github.com/Wisc-HCI/droid
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nav_external_links:
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- title: Official DROID Docs
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url: https://droid-dataset.github.io/droid/docs/
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hide_icon: false
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search_enabled: true
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heading_anchors: true
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back_to_top: true
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back_to_top_text: Back to top
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callouts:
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warning:
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title: Warning
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color: yellow
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note:
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title: Note
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color: blue

‎docs/droid-openpi-pipeline/_sass/color_schemes/lab.scss‎

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$body-background-color: $white;
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$sidebar-color: #f7f8fa;
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$body-text-color: #172033;
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$body-heading-color: #172033;
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$nav-child-link-color: #526176;
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$link-color: #2563eb;
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$btn-primary-color: #2563eb;
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$code-background-color: #eef2f6;
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$feedback-color: darken($sidebar-color, 3%);

‎docs/droid-openpi-pipeline/example-workflows/chtc-finetuning.md‎

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title: CHTC Fine-tuning
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parent: Example Workflows
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nav_order: 3
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permalink: /example-workflows/chtc-finetuning/
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---
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# CHTC Fine-tuning
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tar -xzf checkpoints.tar.gz
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find checkpoints -maxdepth 4 -type d | sort | tail
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```
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‎docs/droid-openpi-pipeline/example-workflows/dataset-conversion-and-upload.md‎

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title: Dataset Conversion and Upload
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parent: Example Workflows
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nav_order: 2
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permalink: /example-workflows/dataset-conversion-and-upload/
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---
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# Dataset Conversion and Upload
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```
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If you change the dataset repo id, update `repo_id` in `src/openpi/training/config.py` under `pi05_droid_finetune`.
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‎docs/droid-openpi-pipeline/example-workflows/example-workflows.md‎

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nav_order: 4
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has_children: true
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has_toc: false
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permalink: /example-workflows/
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---
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# Example Workflows
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Use these workflows after hardware and software setup are complete.
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1. [Teleoperation and Data Collection](./teleoperation-and-data-collection.md)
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2. [Dataset Conversion and Upload](./dataset-conversion-and-upload.md)
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3. [CHTC Fine-tuning](./chtc-finetuning.md)
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4. [Policy Deployment](./policy-deployment.md)
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5. [Troubleshooting](./troubleshooting.md)
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1. [Teleoperation and Data Collection]({{ site.baseurl }}/example-workflows/teleoperation-and-data-collection/)
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2. [Dataset Conversion and Upload]({{ site.baseurl }}/example-workflows/dataset-conversion-and-upload/)
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3. [CHTC Fine-tuning]({{ site.baseurl }}/example-workflows/chtc-finetuning/)
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4. [Policy Deployment]({{ site.baseurl }}/example-workflows/policy-deployment/)
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5. [Troubleshooting]({{ site.baseurl }}/example-workflows/troubleshooting/)
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## Fast Path: Run Existing Policy Only
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2. Start the DROID low-level server on the NUC.
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3. Run `scripts/main.py` on the control laptop.
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4. Enter the natural-language instruction when prompted.
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‎docs/droid-openpi-pipeline/example-workflows/policy-deployment.md‎

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title: Policy Deployment
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parent: Example Workflows
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permalink: /example-workflows/policy-deployment/
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---
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# Policy Deployment
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The script prompts for `Enter instruction:` and saves rollout results under `results/`.
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