This technical paper describes π0, a novel approach to robotic foundation models capable of performing complex tasks such as laundry folding and table bussing. π0 combines Internet-scale vision-language model pre-training with flow matching to represent continuous actions, enabling it to control robots at high frequencies and perform intricate manipulation tasks. The paper details the architecture, data collection, and training recipe of π0, as well as experimental evaluations across various tasks, demonstrating its ability to generalize to unseen objects and configurations and perform complex, temporally extended multi-stage behaviors. The results suggest that π0 is a promising step toward the development of general and broadly applicable robot foundation models.

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