PhAIL
PhAIL Physical AI Leaderboard by Positronic Robotics
Leaderboard › Model
Generalist VLA Finetuning

Model card

Made by
Physical Intelligence
Size
3B parameters
Published
22 Apr 2025
More about the model
Publication
arXiv 2504.16054
Code
github.com/Physical-Intelligence/openpi
Weights licence
Apache 2.0, with the Gemma Terms of Use source
Actions per chunk
π₀.₅: 50 source; π₀.₅ DROID: 15 source
Smallest GPU
More than 8 GB of GPU memory, for example an RTX 4090 source
Inference time
About 76 ms per chunk on an RTX 4090 (bfloat16, 5 denoising steps) source
Architecture
PaliGemma 2B vision-language model and a 300M flow-matching action expert source
Training data
Base model: 10k+ hours of robot data. π₀.₅ DROID: fine-tuned from it on the DROID dataset source

Run with Positronic

π₀.₅ DROID

Start the server source

docker run --gpus all -p 8000:8000 positro/pi05-droid

Drive a DROID robot from a positronic checkout guide

uv run --extra hardware positronic-inference real \
  --policy=.remote \
  --policy.address.host=localhost --policy.address.port=8000 \
  --next_task.instruction="Put the marker on the plate"

Progress through an episode

Each band shows how many episodes of π₀.₅ had got as far as that stage at each second. The dashed line shows the mean Reliability.

Episodes

Each episode of π₀.₅ on DROID: Everyday tasks, the newest first.

100 episodes
Task Task difficulty How far it got % of task done Time to success, s
Turn the box right side up Very hard Floating 0 -
Turn the spoon Easy Contact 10 -
Turn the lid upside down Very hard Floating 0 -
Rotate the mug Hard Floating 0 -
Turn the marker to the right Hard Reaching 0 -
Unstack the boxes on the table Hard Reaching 0 -
Stack the cups inside the bowl Very hard Failed 0 -
Stack the wooden blocks on the table Very hard Safety stop 0 -
Use the towel to wipe the plate Medium Reaching 0 -
Wipe the table with the cloth Medium Contact 10 -
Move the banana to the left Easy Success 100 30.3
Move the plate to the left Medium Safety stop 0 -
Move the fork to the right Easy Success 100 31.8
Move the rubik's cube to the left Easy Safety stop 0 -
Move the spoon to the right Easy Success 100 22.6
Move the pen to the right Medium Success 100 17.8
Move the box to the right Very hard Floating 0 -
Move the cloth to the right Medium Contact 10 -
Move the marker to the left Easy Success 100 17.3
Move the towel to the right Hard At target 40 -
Put the green block in the box Easy Reaching 0 -
Put the pen in the storage box Medium Control 30 -
Put the Rubik's cube in the storage box Easy Floating 0 -
Put the pen in the drawer Easy Reaching 0 -
Put the screwdriver in the bowl Very hard Safety stop 0 -
Put the cube in the drawer and close the drawer Very hard Reaching 0 -
Put the spoon in the box Medium Control 30 -
Put the wooden spoon in the drawer Medium Control 30 -
Put the cup in the drawer Hard Reaching 0 -
Put the cube in the cup Hard Reaching 0 -
Put the marker on the towel Hard Safety stop 0 -
Put the yellow block on the plate Easy Contact 10 -
Put the screwdriver on the table Medium Floating 0 -
Put the shirt on the table Very hard Reaching 0 -
Put the marker on the plate Easy Success 100 54.3
Place the cube on the table Easy Reaching 0 -
Place the bowl on the plate Easy Success 100 48.9
Place the mug at the center of the table Very hard Floating 0 -
Put the towel inside the box Easy Contact 10 -
Put the fork inside the open drawer Hard Safety stop 0 -
Put the blue block inside the open drawer then close the drawer Hard Safety stop 0 -
Take the cloth and put it on the bowl Easy At target 40 -
Remove the towel from the middle drawer Very hard Floating 0 -
Remove the banana from the bowl Easy Success 100 51.6
Remove the red cup from the box Easy Floating 0 -
Remove the fork from the bowl Easy Reaching 0 -
Take the mug off the plate and put it on the table Easy Contact 10 -
Pick up the spoon from the bowl and put it in the box Hard Floating 0 -
Pick up the spoon from the bowl and put it in the cup Hard Floating 0 -
Pick up the cup and put it on the plate Easy Reaching 0 -
Pick the fork and put it on the table Easy Contact 10 -
Pick up the towel and place it on the table Hard Failed 0 -
Pick up the spoon and put it on the table Easy Contact 10 -
Pick up the pen and put it on the table Very hard Reaching 0 -
Pick up the cloth and put it on the drawer Hard Contact 10 -
Pick up the blue cup and put it in the orange cup Easy Contact 10 -
Pick up the cloth from the table and put it in the box Medium Failed 0 -
Pick up the cloth and put it on the table Hard Control 30 -
Remove the marker from the cup and put it on the box Medium Reaching 0 -
Remove the lid from the storage box and put it on the table Medium Floating 0 -
Take the spoon from the plate and put it on the table Easy Reaching 0 -
Remove the blocks from the bowl and put them on the table Easy Floating 0 -
Remove the mug from the box and put it on the table Easy Reaching 0 -
Take the screwdriver from the box and put it on the table Medium Reaching 0 -
Remove the marker from the box and place it on the table Medium Floating 0 -
Remove the spoon from the bowl and put it on the table Medium Contact 10 -
Remove the spoon from the cup and put it on the table Hard Floating 0 -
Take the pen out of the bowl and put it on the table Easy Reaching 0 -
Take the pen out of the mug and put it on the table Hard Reaching 0 -
Put the marker on the towel, fold the towel, and then put the folded towel in the box Very hard Reaching 0 -
Put the screwdriver in the drawer and close it Very hard Floating 0 -
Unfold the shirt Hard Reaching 0 -
Fold the cloth Hard Control 30 -
Flip the cup over Medium Reaching 0 -
Close the drawer Hard Reaching 0 -
Move the bowl to the right Easy Reaching 0 -
Move the mug to the left Easy Floating 0 -
Stack the cups Medium Control 30 -
Put the orange block on top of the green block Hard Contact 10 -
Put the yellow block in the blue cup Very hard Reaching 0 -
Put the fork on the plate Hard Contact 10 -
Put the cube in the bowl Hard Reaching 0 -
Put the spoon in the mug Hard Reaching 0 -
Put the pen in the cup Very hard Floating 0 -
Use the towel to wipe the table Hard Floating 0 -
Fold the towel Hard Reaching 0 -
Move the cup to the right Easy Contact 10 -
Move the cup to the left Easy Contact 10 -
Close the box Very hard Reaching 0 -
Put the marker on the table Medium Contact 10 -
Put the yellow block in the cup Medium Contact 10 -
Put the cup in the bowl Easy Contact 10 -
Put the spoon in the bowl Very hard Reaching 0 -
Put the marker in the bowl Easy Contact 10 -
Put the marker in the cup Very hard Floating 0 -
Move the wooden block to the left Very hard Floating 0 -
Flip over the plate Hard Floating 0 -
Put the sponge in the bowl Easy Reaching 0 -
Put the marker in the mug Medium Reaching 0 -
Put the banana on the plate on the left Easy Floating 0 -