Physical Intelligence
π0 (pi-zero)
3.3B Commercial terms unverified 7/8 verified
1 of 8 required fields are unverified. They are shown as badges, not filled with defaults. Sources for verified fields are listed below.
Facts
- Released
- 2025-02 1 Source
- Parameters
- 3.3 B 1 Source
- Architecture
- VLM + action expert 0 Source
- License
- Apache-2.0（openpi 代码）；权重无独立许可证声明，仓库附 Gemma 使用条款 3 Source
- Commercial
- Commercial terms unverified 0 Source
- Weights
- huggingface.co ↗ 2 Source
- Code
- github.com ↗ 1 Source
- Paper
- arxiv.org ↗ 1 Source
- Input modalities
- rgb · language · state 0 Source
- Action space
- 关节(机械臂/双臂为主) 0 Source
- Cross-embodiment
- 多本体预训练 Unverified 0 Source 待核实清单
- Pretraining data (hours)
- Unverified 0 Source
- Target forms
- Single arm · Dual arm · Mobile manipulator 0 Source
Sources · 6 sources
license https://raw.githubusercontent.com/Physical-Intelligence/openpi/main/LICENSE Official page · Fetched 2026-09-03 · No snapshot stored yet 代码 Apache-2.0
license https://raw.githubusercontent.com/Physical-Intelligence/openpi/main/LICENSE_GEMMA.txt Official page · Fetched 2026-09-03 · No snapshot stored yet Gemma Terms of Use 约束模型衍生物
weights_url,code_url https://raw.githubusercontent.com/Physical-Intelligence/openpi/main/README.md Official page · Fetched 2026-09-03 · No snapshot stored yet 官方权重 gs://openpi-assets/checkpoints/pi0_base；README 无权重许可证章节
release_date https://www.pi.website/blog/openpi Official page · Fetched 2026-09-03 · No snapshot stored yet Open Sourcing π0, February 4, 2025
params_b,paper_url https://arxiv.org/html/2410.24164v1 Paper / official docs · Fetched 2026-09-03 · No snapshot stored yet total 3.3 billion parameters
weights_url,license https://huggingface.co/api/models/lerobot/pi0_base Model hub page · Fetched 2026-09-03 · No snapshot stored yet LeRobot 移植版 license 标 gemma
Tutorials
No tutorial yet. First one planned: running this model on a rented RTX 4090 with a measured latency report.
Record history
2026-09-03
Sources fetched
license · license · weights_url,code_url · release_date · params_b,paper_url · weights_url,license
Latency & cost
cost = p50 ms ÷ 1000 × rental ÷ 3600 × 1000
| Hardware | p50 ms | p95 ms | Peak VRAM | Cost per 1k inferences ¥ | samples |
|---|---|---|---|---|---|
NVIDIA RTX 4090 ¥1.68/h · 共绩算力 (2026) | — | — | — | — no latency data | No data |
NVIDIA RTX 5090 ¥2.4/h · 润云 2.4 / 共绩 2.5 / 并行智算云 2.98 (2026) | — | — | — | — no latency data | No data |
NVIDIA A100 80GB no rental price | — | — | — | — no latency data | No data |
NVIDIA Jetson AGX Thor no rental price | — | — | — | — no latency data | No data |
No latency measurements for this model yet · Data comes from literature, maintainer runs, or crowd CLI uploads. None exist so far.
Compatibility
Colored only where we hold evidence. An amber dot means the vendor declares this form as a target; that is a claim, not a verified compatibility.
| Unitree G1 | Unitree H1 | 智元 精灵 G1 | 松灵 Piper 机械臂 | SO-101 | Franka FR3 / Panda | 傅立叶 GR 系列 | |
|---|---|---|---|---|---|---|---|
| π0 (pi-zero) |
Legend Officially supportedCommunity reproducedFine-tunable in theoryUnsupportedUnknown Vendor-declared target form 0 / 7 cells with a definite status