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Physical Intelligence

π₀ base

π₀ base

Checkpoint

LeRobot distribution of the π₀ vision-language-action base policy.

Specifications

Architecture components: Flow matching
Frameworks: LeRobot
Input modalities: Optional language instruction
Input modalities: Multi-view images
Input modalities: Robot state / proprioception
Languages: English
Model type: Vision-language-action
Output action space: Continuous actions
Parameter count: 4B parameters

Lineage

Unknown

Architecture & I/O

trajectory · continuous

Unknown

Flow-matching policy producing continuous robot actions.

Source · Hugging Face LeRobot

Default checkpoint

lerobot/pi0_base

openGemma Terms of Use

Other releases

1

published checkpoints

Supported robots

No verified robot compatibility recorded.

Benchmark results

VLABench · Primitive FT LeRobot Video

Overall: 44.5 score

official · reported

Source · Hugging Face LeRobot

Deployment

LeRobot / PyTorch · CUDA-capable GPU

unknown

Source · Hugging Face LeRobot

Training data

pretrain

Open X-Embodiment

open

Source · Hugging Face LeRobot

Resources

documentation · LeRobot pi0 documentation repository · openpi official repository hub · LeRobot π₀ base model card weights · LeRobot π₀ base model card

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