Physical Intelligence

π₀-FAST

Checkpoint

Autoregressive π₀ policy using the FAST action tokenizer.

Specifications

Architecture components: Autoregressive action tokens
Backbone: PaliGemma vision-language backbone with FAST autoregressive action tokenizer
Frameworks: openpi / LeRobot
Input modalities: Language instruction
Input modalities: RGB camera images
Input modalities: Robot state / proprioception
Languages: English
Model type: Vision-language-action model
Output action space: Tokenized robot action chunks
Parameter count: 4B parameters
Pipeline task: Robotics