🛠️ Steven Gong

Search

SearchSearch

Jul 06, 2025, 1 min read

Robot Foundation Models

pi0

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

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

Graph View

Backlinks

  • AdaLN
  • Causal Attention Mask
  • Flow Matching
  • PaliGemma
  • Proprioceptive State
  • RDT-1B
  • Transfusion

Created with Quartz, © 2025

  • Blog
  • LinkedIn
  • Twitter
  • GitHub