Robot Foundation Models

pi0

Paper: https://arxiv.org/pdf/2410.24164

pi0.5 also dropped

• https://www.physicalintelligence.company/download/pi05.pdf
• Available locally /Users/stevengong/Downloads/pi05.pdf

Links:

• https://www.physicalintelligence.company/blog/pi0
• https://www.physicalintelligence.company/download/pi0.pdf

Model Architecture

• siglip
• PaliGemma

” averaging over 10 trials per task”

• This is how many trials they do to get success rate

Why flow-matching?

• To ensure /constrain smooth robot outputs as opposed to random jumps in values