pi0 / OpenPI
Physical Intelligence
Generalist robot policy family and open-source robotics model package from Physical Intelligence.
- Code
- Available
- Weights
- Available
- Checkpoint
- Available
- License
- apache-2.0
Decision summary
Generalist policy transfer
Hardware, latency, dependencies, and checkpoint loading are not pipeline-tested.
Run a checkpoint loading smoke test before marking the model pipeline-tested.
Release history
Source-backed release timing for this canonical model record.
- OpenPI
Model series introduced
Release timing is recorded from the official source creation date.
Selection readiness
Evidence dimensions for deciding whether this model is ready to inspect, compare, or adopt. Scores describe catalog evidence, not task performance.
Published evaluation
How scores work76/100
Useful
5/6 dimensions scored · 63% confidence
Engineering checks (OBRS) behind this record
Needs Audit
OBRS metadata and reported test evidence. A breakdown behind Selection readiness, not a separate score or an independent OpenBot certification.
- A passing real-hardware test report is required.
- A passing ingestion/pipeline test report is required.
- A passing privacy and provenance review is required.
Why these scores
The strongest decision reasons behind Selection readiness.
Artifact availability
UsefulCheckpoint files were verified in the official repository metadata.
Training and loading reproducibility
UsefulConfiguration files are present; runtime loading is not tested.
Evaluation evidence
UnknownNo structured evaluation evidence has been verified.
Data requirements
Declared loop-data needs, missing evidence, and the next checks that matter.
Observation / ego video
observation
Language intent / task phase
language intent
Action / robot state
actions · robot state
Sim-real / embodiment metadata
robot state · embodiment
Critical gaps
Core categories are represented. Interface alignment and data quality still require verification.
Linked datasets
Signal-level links only. Verify runtime interfaces before use.
EgoWorld
Schema validation for LeRobot v3
provisional fit 83 · confidence 40
2 matched · 1 unknown
Manus Egocentric Sample
Testing LeRobot import paths
provisional fit 83 · confidence 40
2 matched · 1 unknown
EgoStation GoPro Pick-and-Place
Pick-and-place benchmark fixtures
provisional fit 100 · confidence 60
3 matched · 0 unknown
More evidenceShowHide
Additional decision dimensions
Access and license are declared by the source.
75 · c85Required signal categories are structured; exact tensor and action interfaces still need verification.
76 · c70Hardware, latency, dependencies, and checkpoint loading are not pipeline-tested.
70 · c55Artifact facts
- release_year
- official_claim
- 2024
- curated official source year
- model.required_signals
- official_claim
- observation · language intent · actions · robot state · embodiment
- Official model documentation and curated signal mapping
- repository.code
- metadata_verified
- repository: Physical-Intelligence/openpi · default branch: main · archived: false · code file count: 97 · sample files: examples/aloha_real/constants.py · examples/aloha_real/convert_aloha_data_to_lerobot.py · examples/aloha_real/env.py · examples/aloha_real/main.py · examples/aloha_real/real_env.py · examples/aloha_real/requirements.txt · examples/aloha_real/robot_utils.py · examples/aloha_real/video_display.py · examples/aloha_sim/env.py · examples/aloha_sim/main.py · examples/aloha_sim/requirements.txt · examples/aloha_sim/saver.py · examples/convert_jax_model_to_pytorch.py · examples/droid/compute_droid_nonidle_ranges.py · examples/droid/convert_droid_data_to_lerobot.py · examples/droid/main.py · examples/libero/convert_libero_data_to_lerobot.py · examples/libero/main.py · examples/libero/requirements.txt · examples/simple_client/main.py
- GitHub repository metadata and recursive tree
- model.hub
- official_claim
- declared
- curated model hub link
- model.weight_files
- metadata_verified
- repository: lerobot/pi0 · count: 1 · sample files: model.safetensors
- Hugging Face model metadata siblings
- model.checkpoint_files
- metadata_verified
- repository: lerobot/pi0 · count: 1 · sample files: model.safetensors
- Hugging Face model metadata checkpoint files
- model.config_files
- metadata_verified
- repository: lerobot/pi0 · count: 1 · sample files: config.json · repository: physical-intelligence/fast · count: 2 · sample files: processor_config.json · tokenizer_config.json
- Hugging Face model metadata siblings
- model.training_data
- official_claim
- robot data hours: 10k+ · applies to: pi0 · pi0-FAST · pi0.5 base checkpoints
- README, base model checkpoints
- model.runtime_requirements
- official_claim
- inference gpu memory: >8 GB · lora finetuning gpu memory: >22.5 GB · full finetuning gpu memory: >70 GB · tested os: Ubuntu 22.04
- README, requirements
- license.weights
- metadata_verified
- apache-2.0
- Hugging Face model card license metadata
- license.code
- metadata_verified
- Apache-2.0
- GitHub repository SPDX license metadata
- license
- metadata_verified
- apache-2.0
- Hugging Face model card license metadata
- release_timing
- metadata_verified
- 2024-10-21T15:23:28.000Z
- GitHub repository metadata created_at
Additional references
OpenBot notes
- Useful for framing OpenBot as a data-readiness layer around emerging generalist policies.
- Dataset pages should expose whether a source can become a fine-tuning trace, not just whether it has video.