Physical-Intelligence/openpi

Health v2 · maintenance only

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13494 stars · 2377 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-29, confidence not recorded

Open-source repository from Physical Intelligence containing vision-language-action (VLA) models for robotics, including π₀, π₀-FAST, and π₀.₅, with pre-trained checkpoints and fine-tuning examples. It provides packages for running inference and fine-tuning these models on custom robot datasets.

Use cases

• run robot policy inference with pi0 on a custom robot
• fine-tune a vision-language-action model on my own robot dataset
• train a VLA on the DROID dataset
• use LoRA fine-tuning for pi0 on a single GPU
• evaluate open-source robot foundation model checkpoints
• adapt pi0 to ALOHA or other robot platforms

When to choose

• you need state-of-the-art open VLA models for robot manipulation
• you have an NVIDIA GPU and want to fine-tune robot policies on your own data
• you want to experiment with flow-based or autoregressive action models on real robots

When to avoid

• you need multi-node distributed training
• you work on non-Linux operating systems
• you lack a GPU with at least 8GB VRAM for inference

Facets

library · maturity active

machine-learning deep-learning llm-inference llm-training robotics machine-learning deep-learning artificial-intelligence python vision-language-action vla robot-learning foundation-models fine-tuning lora flow-matching pi0 pytorch jax linux gpu

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