multi-node openpi commit

policy/openpi-InternData-A1/examples/libero/README.md

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+# LIBERO Benchmark
+
+This example runs the LIBERO benchmark: https://github.com/Lifelong-Robot-Learning/LIBERO
+
+Note: When updating requirements.txt in this directory, there is an additional flag `--extra-index-url https://download.pytorch.org/whl/cu113` that must be added to the `uv pip compile` command.
+
+This example requires git submodules to be initialized. Don't forget to run:
+
+```bash
+git submodule update --init --recursive
+```
+
+## With Docker (recommended)
+
+```bash
+# Grant access to the X11 server:
+sudo xhost +local:docker
+
+# To run with the default checkpoint and task suite:
+SERVER_ARGS="--env LIBERO" docker compose -f examples/libero/compose.yml up --build
+
+# To run with glx for Mujoco instead (use this if you have egl errors):
+MUJOCO_GL=glx SERVER_ARGS="--env LIBERO" docker compose -f examples/libero/compose.yml up --build
+```
+
+You can customize the loaded checkpoint by providing additional `SERVER_ARGS` (see `scripts/serve_policy.py`), and the LIBERO task suite by providing additional `CLIENT_ARGS` (see `examples/libero/main.py`).
+For example:
+
+```bash
+# To load a custom checkpoint (located in the top-level openpi/ directory):
+export SERVER_ARGS="--env LIBERO policy:checkpoint --policy.config pi05_libero --policy.dir ./my_custom_checkpoint"
+
+# To run the libero_10 task suite:
+export CLIENT_ARGS="--args.task-suite-name libero_10"
+```
+
+## Without Docker (not recommended)
+
+Terminal window 1:
+
+```bash
+# Create virtual environment
+uv venv --python 3.8 examples/libero/.venv
+source examples/libero/.venv/bin/activate
+uv pip sync examples/libero/requirements.txt third_party/libero/requirements.txt --extra-index-url https://download.pytorch.org/whl/cu113 --index-strategy=unsafe-best-match
+uv pip install -e packages/openpi-client
+uv pip install -e third_party/libero
+export PYTHONPATH=$PYTHONPATH:$PWD/third_party/libero
+
+# Run the simulation
+python examples/libero/main.py
+
+# To run with glx for Mujoco instead (use this if you have egl errors):
+MUJOCO_GL=glx python examples/libero/main.py
+```
+
+Terminal window 2:
+
+```bash
+# Run the server
+uv run scripts/serve_policy.py --env LIBERO
+```
+
+## Results
+
+If you want to reproduce the following numbers, you can evaluate the checkpoint at `gs://openpi-assets/checkpoints/pi05_libero/`. This
+checkpoint was trained in openpi with the `pi05_libero` config.
+
+| Model | Libero Spatial | Libero Object | Libero Goal | Libero 10 | Average |
+|-------|---------------|---------------|-------------|-----------|---------|
+| π0.5 @ 30k (finetuned) | 98.8 | 98.2 | 98.0 | 92.4 | 96.85