Οβ (Pi0)
These weights directly come from the Pytorch conversion script of openpi and their pi0_base
model.
Οβ is a Vision-Language-Action model for general robot control, from Physical Intelligence. The LeRobot implementation is adapted from their open source OpenPI repository.
Model Overview
Οβ represents a breakthrough in robotics as the first general-purpose robot foundation model developed by Physical Intelligence. Unlike traditional robots that are narrow specialists programmed for repetitive motions, Οβ is designed to be a generalist policy that can understand visual inputs, interpret natural language instructions, and control a variety of different robots across diverse tasks.
Architecture and Approach
Οβ combines several key innovations:
- Flow Matching: Uses a novel method to augment pre-trained VLMs with continuous action outputs via flow matching (a variant of diffusion models)
- Cross-Embodiment Training: Trained on data from 8 distinct robot platforms including UR5e, Bimanual UR5e, Franka, Bimanual Trossen, Bimanual ARX, Mobile Trossen, and Mobile Fibocom
- Internet-Scale Pre-training: Inherits semantic knowledge from a pre-trained 3B parameter Vision-Language Model
- High-Frequency Control: Outputs motor commands at up to 50 Hz for real-time dexterous manipulation
Training
For training Οβ, you can use the standard LeRobot training script with the appropriate configuration:
python src/lerobot/scripts/train.py \
--dataset.repo_id=your_dataset \
--policy.type=pi0 \
--output_dir=./outputs/pi0_training \
--job_name=pi0_training \
--policy.pretrained_path=pepijn223/pi0_base \
--policy.repo_id=your_repo_id \
--policy.compile_model=true \
--policy.gradient_checkpointing=true \
--policy.dtype=bfloat16 \
--steps=3000 \
--policy.scheduler_decay_steps=3000 \
--policy.device=cuda \
--batch_size=32
Citation
If you use this model, please cite the original OpenPI work:
@article{openpi2024,
title={Open-World Robotic Manipulation with Vision-Language-Action Models},
author={Physical Intelligence},
year={2024},
url={https://github.com/Physical-Intelligence/openpi}
}
Original Repository
License
This model follows the same license as the original OpenPI repository.
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