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π₀ (Pi0) Libero

These weights directly come from the Pytorch conversion script of openpi and their pi0_libero model.

π₀ 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

π₀ 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, π₀ 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

π₀ 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 π₀, 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_libero_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}
}