GroundingPI · October 1, 2026
GroundingPIPaper availableCode and weightsGroundingPI · Conditional commercial use
Default checkpoint · GroundingPI
Model family
GroundingPI
Research organization / teamXpeng RoboticsRobot manufacturer · AI model developer
Research organization / teamTsinghua UniversityUniversity · AI model developer
Research organization / teamThe Hong Kong University of Science and Technology (Guangzhou)University · AI model developerResearch organization / teamNational University of SingaporeUniversity · AI model developerResearch organization / teamThe University of Hong KongUniversity · AI model developer
Research organization / teamUC BerkeleyUniversity · AI model developerGroundingPI is a 4B visual grounding foundation model developed by XPeng and academic researchers. It represents locations as quantized points and boxes, supports detection, referring and OCR, and releases code and weights with simulation and open-loop transfer evaluations.
Overview
- Model type
- Vision-language model
- Company
- Xpeng Robotics · Tsinghua University · The Hong Kong University of Science and Technology (Guangzhou) · National University of Singapore · The University of Hong Kong · UC Berkeley
- Recorded versions
- GroundingPI
- Listed versions
- GroundingPI
Versions
Papers & reports (1)
GroundingPI: A Grounding Foundation Model towards Physical Intelligence with Visual Primitives
Paper available
arXiv: 2609.39601DOI: 10.48550/arxiv.2609.39601
Authors & affiliations (26)
Author order: Original order
- Qize Yu
XPeng Inc. · Peking University
- Lianrui Fan
XPeng Inc.
- Boyu Chen
XPeng Inc. · The University of Hong Kong · Tsinghua University
- Jiaqi Liang
Peking University
- Xini Ding
XPeng Inc.
- Yue Chen
Peking University
- Zetian Song
XPeng Inc. · Peking University
- Yuran Wang
Peking University · National University of Singapore
- Yi Zou
XPeng Inc.
- Kaixuan Wang
The University of Hong Kong
- Tianxing Chen
The University of Hong Kong
- Wenxuan Song
HKUST (GZ)
- Bohan Zhou
Peking University
- Mingleyang Li
Peking University
- Siqiao Huang
Tsinghua University
- Yuqi Ye
Peking University
- Caigao Jiang
XPeng Inc.
- Wei Wei
XPeng Inc.
- Ruihai Wu
University of California, Berkeley
- Hang Zhang
XPeng Inc.
- Yixiao Ge
XPeng Inc.
- Shuchang Zhou
XPeng Inc.
- Shilong Liu
Princeton University
- Xianming Liu
XPeng Inc.
- Ping Luo
The University of Hong Kong
- Shiyu Huang
XPeng Inc.
- First published
- 2026-09-30
- Latest paper revision
- v2 · 2026-10-16
- Venue
- Not provided
Covered model versions
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