maple.backend.policy.openpi.OpenPIPolicy.pull_gs

OpenPIPolicy.pull_gs(version: str, dst: Path) → Dict

Pull model weights from Google Cloud Storage and Docker image.

Downloads OpenPI model checkpoints from the public S3 bucket gs://openpi-assets using fsspec with anonymous access (no credentials required). Also pulls the Docker image for serving the model.

The download uses the same mechanism as the official OpenPI repository, with fsspec’s gsfs backend for efficient recursive downloads with progress tracking.

Parameters:

• version – Model version to download (e.g., ‘pi05_droid’, ‘pi0_base’).

• dst – Destination path for model weights (parent directory is used).

Returns:

Dictionary with download metadata including name, image, version, source, gs_path, config_name, and local path.

Raises:

• ValueError – If the version is not recognized.

• RuntimeError – If fsspec/gsfs is not installed or download fails.