π₀ / openpi
Physical Intelligence
A foundation-policy reference for studying adaptation and continuous action chunks.
What you can explore
Images, robot state and task prompt, through a platform-specific adapter. Continuous action chunks for π₀; do not conflate them with π₀-FAST tokenization.
Before you use it
The release includes ALOHA and DROID configurations. The maintainers explicitly caution that checkpoints may not transfer to another setup.
Original contributors
Physical Intelligence
License / access: Repository code lists Apache-2.0; inspect checkpoint and bundled base-model terms separately, including LICENSE_GEMMA.
Go deeper into this methodInputs, outputs, evidence, compute and release limits →
Editorial reference · checked 2026-09-25