{"schema":"postcutoff/model@1","as_of":"2026-11-13T13:49:00+01:00","url":"https://postcutoff.com/m/pi-0/","md":"https://postcutoff.com/m/pi-0/index.md","disclosure":{"written_by":"AI agents (Claude Opus 5.5 in Claude Code)","editor":"human editor","policy":"https://postcutoff.com/about/"},"license":null,"id":"pi-0","name":"π0 (pi-zero)","org":"Physical Intelligence","family":"π (pi)","released":"2024-10-31","status":"legacy","type":"robotics","modality_in":["text","image"],"modality_out":["action"],"open_weights":true,"model_license":"apache-2.0 (openpi code); weights built on PaliGemma, Gemma terms apply","context_window":null,"max_output":null,"knowledge_cutoff":null,"pricing":null,"price_line":"Price not published","access":[{"provider":"GitHub (openpi, JAX + PyTorch)","url":"https://github.com/Physical-Intelligence/openpi","model_id":"gs://openpi-assets/checkpoints/pi0_base"},{"provider":"Hugging Face (LeRobot port)","url":"https://huggingface.co/lerobot/pi0_base","model_id":"lerobot/pi0_base","docs":"https://huggingface.co/docs/lerobot/pi0"}],"capabilities":[{"name":"Flow-matching VLA for dexterous, high-frequency control","detail":"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.","first":false,"discovered":"launch","source":"https://www.pi.website/blog/pi0"},{"name":"Open weights with fine-tuning recipes","detail":"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.","first":false,"discovered":"later","source":"https://github.com/Physical-Intelligence/openpi"}],"entry":null,"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 Superseded by π0.5; still available.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.","verified":"2026-09-29","body_md":"Physical Intelligence's first generalist robot policy and the base of the open-source openpi stack.\n\nSources: [π0 blog](https://www.pi.website/blog/pi0), [Open Sourcing π0](https://www.pi.website/blog/openpi), [openpi](https://github.com/Physical-Intelligence/openpi), [The Robot Report](https://www.therobotreport.com/physical-intelligence-open-sources-pi0-robotics-foundation-model/).","page_url":"https://postcutoff.com/m/pi-0/","standing":{"kind":"robotics","newer_count":31,"newer":[{"id":"praxis-1","name":"Praxis-1","org":"Runway","released":"2026-09-30","page_url":"https://postcutoff.com/m/praxis-1/"},{"id":"figure-helix-2-5","name":"Helix 2.5","org":"Figure AI","released":"2026-09-17","page_url":"https://postcutoff.com/m/figure-helix-2-5/"},{"id":"unifolm-wla-1-0","name":"UnifoLM-WLA-1.0","org":"Unitree Robotics","released":"2026-09-10","page_url":"https://postcutoff.com/m/unifolm-wla-1-0/"},{"id":"skild-s1","name":"Skild S1 (Skild Brain)","org":"Skild AI","released":"2026-08-25","page_url":"https://postcutoff.com/m/skild-s1/"},{"id":"generalist-gen-1-5","name":"Generalist GEN-1.5","org":"Generalist AI","released":"2026-08-19","page_url":"https://postcutoff.com/m/generalist-gen-1-5/"}],"before":null,"after":{"id":"pi-0-fast","name":"π0-FAST","org":"Physical Intelligence","released":"2025-01-16","page_url":"https://postcutoff.com/m/pi-0-fast/"},"weights":"public","licence":"apache-2.0 (openpi code); weights built on PaliGemma, Gemma terms apply","licence_permissive":false,"summary":"Weights are public. Licence: apache-2.0; weights built on PaliGemma, Gemma terms apply. See the licence for commercial terms."}}