(I work at Pi.)

We open-sourced Pi0 (referenced in this post): https://github.com/Physical-Intelligence/openpi

Just need one that can plug in USB-A cables the first attempt (I average 3 attempts).

“Soon, a robot will fix the cables in the server room for me!”

It uses an inpainting algorithm (adapted from image generation literature) to produce future actions that are consistent with the current trajectory. It's sort of like warm-starting from a cached plan, although the plan isn't latent, it's directly in action space. Hopefully that answers your question -- there are many more details in the blog post and paper :)