π₀ (Pi0) (LeRobot) π₀ is a Vision Language Action (VLA) foundation model from Physical Intelligence that jointly reasons over vision, language, and actions to control robots, serving as the base architecture that later enabled π₀.₅’s open world generalization. Checkpoint trained and evaluated on LIBERO tasks. Original paper: π0: A Vision Language Action Flow Model for General Robot Controlion Reference implementation: https://github.com/Physical Intelligence/openpi LeRobot implementation: Follows the original reference code for compatibility. Model description Inputs: images (multi view), proprio/state, optional language instruction Outputs: continuous actions Training objective: flow matching Action representation: continuous Intended use: Base model to fine tune on your specific use case Quick start (inference on a real batch) Installation For full installation details (including optional video dependencies such as ffmpeg for torchcodec), see the official documentation: https://huggingface.co/docs/lerobot/installation Load model + dataset, run select action Training step (loss + backward) If you’re training / fine tuning, you typically call forward(...) to get a loss and then: No…
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