# fine-tuning-openvla-oft

> Fine-tunes and evaluates OpenVLA-OFT and OpenVLA-OFT+ policies for robot action generation with continuous action heads…

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.

- Type: Skill
- Made by: Orchestra-Research
- Category: AI & agents
- Formats: Skills
- Version: 508f8e7
- Source: https://github.com/orchestra-research/ai-research-skills/tree/HEAD/18-multimodal/openvla-oft
- Page: https://pluginboard.ai/skills/fine-tuning-openvla-oft

## Works with

- ChatGPT
- Claude
- Gemini
- GitHub Copilot
- Cursor
- Claude Code
- Codex
- Antigravity
- Gemini CLI
- Replit
- OpenClaw
- OpenCode
- Hermes Agent

## Install

### ChatGPT

In ChatGPT: Download the fine-tuning-openvla-oft folder and zip it, then Plugins → Skills → Create → Upload from your computer. Business and Enterprise plans.

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### Claude

In Claude (web or desktop): Download the fine-tuning-openvla-oft folder and zip the folder itself, then upload it in Customize → Skills.

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### Gemini

In Gemini: Download the fine-tuning-openvla-oft folder, then at gemini.google.com click Customize → Skills → Create → Upload and pick the folder (or a .zip of it).

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### GitHub Copilot

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft ~/.copilot/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### Cursor

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft ~/.cursor/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### Claude Code

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft ~/.claude/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

Or all of AI Research Skills (Orchestra), in Claude Code:

```text
/plugin marketplace add Orchestra-Research/AI-Research-SKILLs
/plugin install rag@ai-research-skills
```

### Codex

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft ~/.agents/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### Antigravity

In Antigravity: Copy the fine-tuning-openvla-oft folder into ~/.gemini/config/skills (Antigravity app and IDE) or ~/.gemini/antigravity-cli/skills (Antigravity CLI).

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### Gemini CLI

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft ~/.gemini/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### Replit

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft .agents/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### OpenClaw

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft ~/.openclaw/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### OpenCode

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft ~/.config/opencode/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

### Hermes Agent

Run in your terminal:

```shell
npx -y degit Orchestra-Research/AI-Research-SKILLs/18-multimodal/openvla-oft ~/.hermes/skills/fine-tuning-openvla-oft
```

View the folder on GitHub: https://github.com/Orchestra-Research/AI-Research-SKILLs/tree/HEAD/18-multimodal/openvla-oft

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From Pluginboard (https://pluginboard.ai).