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Physical Intelligenceπ (pi) familyLegacyRobotics modelReleased 31 Oct 2024

π0 (pi-zero)

Physical Intelligence’s first generalist robot policy and the base of the open-source openpi stack.

Model idgs://openpi-assets/checkpoints/pi0_base

PricePrice not published

Checked29 September 2026

Where it stands

31newer robotics models since its release

The 5 newest are listed. All robotics models

After it from Physical Intelligence
π0-FAST16 Jan 2025
Weights
Weights are public. Licence: apache-2.0; weights built on PaliGemma, Gemma terms apply. See the licence for commercial terms.

How to call it

2 ways to use π0 (pi-zero), with the model id each provider expects.

Providers, model ids, endpoints and docs for π0 (pi-zero)
ProviderModel idEndpointDocs
GitHub (openpi, JAX + PyTorch) gs://openpi-assets/checkpoints/pi0_base github.com
Hugging Face (LeRobot port) lerobot/pi0_base Docs
Model page

Pricing

Price not published.

No price source linked. Checked 29 September 2026.

Specs

Input
Text and images
Output
Robot actions
Context window
Not published
Max output
Not published
Open weights
Yes
Licence
apache-2.0 (openpi code); weights built on PaliGemma, Gemma terms apply
Released
31 October 2024
Status
Legacy
Type
Robotics model

What stands out

What its maker marketed at launch, and what people found later, each with its source.

  • Flow-matching VLA for dexterous, high-frequency control

    PaliGemma VLM plus an action expert that outputs continuous action chunks via flow matching (up to 50 Hz), trained on data from 8 distinct robots; folds laundry, busses tables, assembles boxes.

    Source: pi.website

  • Open weights with fine-tuning recipes

    Found after launch

    Open-sourced 2025-02-04 in openpi with base and fine-tuned checkpoints (ALOHA towel/tupperware/pen, DROID) pre-trained on 10k+ hours of robot data; inference needs >8 GB VRAM, LoRA fine-tuning >22.5 GB.

    Source: github.com

Notes

Announced 2024-10-31; weights released 2025-02-04 (openpi). Not the first open VLA (OpenVLA/Octo came earlier) but became the most widely used open generalist robot policy baseline. Superseded by π0.5; still available. Fine-tuned expert checkpoints: pi0_droid, pi0_aloha_towel, pi0_aloha_tupperware, pi0_aloha_pen_uncap.

Sources: π0 blog, Open Sourcing π0, openpi, The Robot Report.