# physical-superintelligence-lab/Psi0

[RSS26'] Welcome to Psi-Zero, a Humanoid VLA towards Universal Humanoid Intelligence.

Repository: https://github.com/physical-superintelligence-lab/Psi0
Canonical: https://ross.abutalabs.com/products/psi0
Homepage: https://psi-lab.ai/Psi0/
Language: Python
License: NOASSERTION
License Family: other
Last push: 2026-08-24T08:30:46+00:00

## Health v2 (maintenance only)
Score: 59/100 (v2, computed 2026-09-03T02:20:16.233290+00:00)
- activity 99, release rhythm 35, longevity 13
- inputs: {"age_days": 187, "days_push": 9, "days_rel": null, "gap_med": null, "n_releases_24m": 0}
- flags: no_releases, no_license
- formula: round(0.45*activity + 0.35*rhythm + 0.20*longevity); archived -> min(score, 10)

## Adoption (not part of the score)
Stars 2802, forks 91 (observed 2026-08-28T04:07:22.676716+00:00)

## What it is
Psi-Zero (Ψ₀) is an open vision-language-action (VLA) foundation model for dexterous humanoid loco-manipulation, combining a Qwen3-VL backbone with a flow-based diffusion transformer action expert and an RL tracking controller. The repository provides model weights, training data, and code released alongside an RSS 2026 paper.

## Use cases
- control a humanoid robot for dexterous loco-manipulation tasks
- fine-tune a VLA model on a small set of teleoperated robot trajectories
- pre-train a vision-language backbone on egocentric human videos
- benchmark humanoid manipulation policies against baselines like DreamZero or SONIC
- run whole-body action chunk prediction on a humanoid embodiment
- research data recipes for scaling humanoid robot learning

## When to choose
- you need an open state-of-the-art VLA model for humanoid whole-body control
- you want to fine-tune a foundation model with as few as ~80 trajectories
- you are doing research on humanoid loco-manipulation or egocentric-video pre-training
- you need a diffusion-transformer action expert architecture to build on

## When to avoid
- you need a production-ready industrial robot control stack
- you lack GPU hardware or a humanoid robot platform for deployment
- you need a general-purpose home assistant robot out of the box
- you require a permissively documented, fully turnkey training pipeline with extensive support

## Facets
- artifact type: library
- maturity: active
- function: machine-learning, deep-learning, llm-training, robotics, transformers, rag
- domain: robotics, machine-learning, artificial-intelligence, deep-learning, large-language-models
- platform: python
- tags: vision-language-action, humanoid-robot, loco-manipulation, foundation-model, diffusion-transformer, egocentric-video, vla, teleoperation, fine-tuning, research-code, gpu, linux

## Member repositories
- physical-superintelligence-lab/Psi0 (main) score 59

## Provenance
- Observed fields: from GitHub, fetched 2026-08-28T04:07:22.676716+00:00.
- Health v2: computed from the inputs above; adoption is never an input.
- Inferred fields (summary, facets, guidance): AI-extracted, prompt v1, taxonomy v1, on 2026-08-30T08:14:32.924173+00:00, confidence not recorded.
  - readme: https://github.com/physical-superintelligence-lab/Psi0 (fetched 2026-08-28T04:07:22.676716+00:00, sha 11ab82bb5f15)
  - homepage: https://psi-lab.ai/Psi0/ (fetched 2026-08-29T09:54:33.554331+00:00, sha 0776c0f13e81)
- Data as of 2026-08-30T08:39:29.467469+00:00.