PhAIL – Physical Intelligence π₀.₅

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.

Task How far it got 177 episodes

Task	Task difficulty	How far it got	% of task done	Time to success, s
Remove the yellow block from the bowl	Easy	Reaching	0	-
Put the book in the box	Hard	Safety stop	0	-
Pick up the screwdriver from the cup and put it on the table	Easy	Safety stop	0	-
Remove the marker from the cup and put it on the book	Very hard	Safety stop	0	-
Put the cloth in the bag	Very hard	Failed	0	-
Pick up the spoon and put it on the plate	Easy	Reaching	0	-
Put the knife in the drawer	Very hard	Reaching	0	-
Put the towel in the basket	Medium	Failed	0	-
Put the plush on the table	Easy	Reaching	0	-
Put the bottle on the box	Medium	Safety stop	0	-
Pick up the pen from the cup and put it on the table, then move the cup	Hard	Floating	0	-
Remove the marker from the glass and put it on the table	Hard	Failed	0	-
Put the marker in the glass	Hard	Control	30	-
Put the marker beside the mug	Hard	Reaching	0	-
Put the wrench in the bowl	Hard	Floating	0	-
Put the screwdriver on the tray	Very hard	Failed	0	-
Put the lid on the pan	Easy	Reaching	0	-
Pick up the toy and put it in the bowl	Hard	Reaching	0	-
Put the marker on the cloth, then fold the cloth and put it in the box	Very hard	Reaching	0	-
Pick up the bottle and put it on the right side of the table	Hard	Contact	10	-
Put the bottle in the bag	Very hard	Safety stop	0	-
Remove the bottle from the tray and put it on the table	Very hard	Reaching	0	-
Put the marker inside the container	Hard	Floating	0	-
Remove the bottle from the bowl and put it on the table	Easy	Contact	10	-
Put the bottle on the tray	Hard	Contact	10	-
Pick up the cup and put it on the left side of the table	Medium	Reaching	0	-
Remove the lid from the bottle and put it on the table	Very hard	Success	100	10.0
Put the blocks in the cup	Very hard	Failed	0	-
Pick up the bottle from the box and put it on the table	Hard	Safety stop	0	-
Put the bottle in the bowl	Medium	Reaching	0	-
Put the lid on the bottle	Very hard	Contact	10	-
Put the bottle on the table	Easy	Success	100	14.9
Put the orange cup in the yellow cup then put the yellow cup in the blue cup	Very hard	Failed	0	-
Pick up the spoon and put it in the cup	Very hard	Reaching	0	-
Put the blue cup on the table	Easy	Contact	10	-
Put the yellow block on the table	Very hard	Reaching	0	-
Put the blocks in the bowl	Very hard	Reaching	0	-
Pick up the bottle and put it in the box	Very hard	Reaching	0	-
Put the pen in the mug	Hard	Control	30	-
Put the pen in the bowl	Easy	Control	30	-
Put the green block in the bowl	Easy	Success	100	66.6
Pick the marker from the bowl and put it on the table	Easy	Reaching	0	-
Take the marker out of the mug and put it on the table	Easy	Safety stop	0	-
Close the box	Very hard	Reaching	0	-
Put the marker on the table	Medium	Failed	0	-
Put the yellow block in the cup	Easy	Safety stop	0	-
Put the cup in the bowl	Easy	Success	100	24.0
Put the spoon in the bowl	Very hard	Safety stop	0	-
Put the marker in the bowl	Medium	Contact	10	-
Put the marker in the cup	Hard	Contact	10	-
Move the wooden block to the left	Very hard	Reaching	0	-
Flip over the plate	Hard	Safety stop	0	-
Put the sponge in the bowl	Easy	Failed	0	-
Put the marker in the mug	Hard	Control	30	-
Put the banana on the plate on the left	Easy	Success	100	31.5
Put the orange block on top of the green block	Hard	Reaching	0	-
Put the yellow block in the blue cup	Medium	Success	100	113.7
Put the fork on the plate	Medium	Reaching	0	-
Put the cube in the bowl	Medium	Reaching	0	-
Put the spoon in the mug	Hard	Reaching	0	-
Put the pen in the cup	Very hard	Reaching	0	-
Use the towel to wipe the table	Hard	Reaching	0	-
Fold the towel	Hard	Reaching	0	-
Move the cup to the right	Easy	Contact	10	-
Move the cup to the left	Easy	Reaching	0	-
Close the box	Very hard	Reaching	0	-
Put the marker on the table	Medium	Reaching	0	-
Put the yellow block in the cup	Easy	Contact	10	-
Put the cup in the bowl	Easy	Success	100	87.4
Put the spoon in the bowl	Very hard	Reaching	0	-
Put the marker in the bowl	Medium	Reaching	0	-
Put the marker in the cup	Hard	Contact	10	-
Move the wooden block to the left	Very hard	Contact	10	-
Flip over the plate	Hard	Floating	0	-
Put the sponge in the bowl	Easy	Reaching	0	-
Put the marker in the mug	Hard	Contact	10	-
Put the banana on the plate on the left	Easy	Success	100	36.8
Turn the box right side up	Very hard	Floating	0	-
Turn the spoon	Hard	Failed	0	-
Turn the lid upside down	Very hard	Floating	0	-
Rotate the mug	Easy	Reaching	0	-
Turn the marker to the right	Hard	Reaching	0	-
Unstack the boxes on the table	Medium	Contact	10	-
Stack the cups inside the bowl	Hard	At target	40	-
Stack the wooden blocks on the table	Very hard	Reaching	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	29.3
Move the plate to the left	Hard	Safety stop	0	-
Move the fork to the right	Easy	Success	100	30.5
Move the rubik's cube to the left	Easy	Reaching	0	-
Move the spoon to the right	Easy	Success	100	22.6
Move the pen to the right	Medium	Success	100	17.0
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	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	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	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	Medium	Reaching	0	-
Put the fork on the plate	Medium	Contact	10	-
Put the cube in the bowl	Medium	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	Easy	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	Medium	Contact	10	-
Put the marker in the cup	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	Hard	Reaching	0	-
Put the banana on the plate on the left	Easy	Floating	0	-

Progress through a run

Each band shows how many runs of π₀.₅ have placed that number of items at each second. The dashed line shows the mean share of placed items per run.

Loading runs...

Episodes

Each episode of π₀.₅ on Pick and Place, the newest first.

Task Items placed 163 episodes

Task	Items placed	Speed, items/min
Wooden spoons	8/8	3.3
Towels	2/8	3.6
Towels	7/8	1.7
Towels	0/8	-
Towels	5/8	1.4
Towels	5/8	2.5
Towels	1/8	4.7
Towels	2/8	3.3
Towels	1/8	0.6
Towels	1/8	1.1
Towels	6/8	1.6
Scissors	0/8	-
Scissors	1/8	2.4
Scissors	1/8	1.3
Scissors	2/8	1.5
Scissors	2/8	1.2
Batteries	0/8	-
Batteries	1/8	-
Batteries	1/8	-
Batteries	0/8	-
Batteries	0/8	-
Batteries	0/8	-
Batteries	2/8	2.2
Batteries	0/8	-
Wooden spoons	4/8	1.2
Wooden spoons	6/8	3.3
Wooden spoons	0/8	-
Wooden spoons	3/8	1.7
Wooden spoons	8/8	3.7
Wooden spoons	3/8	2.3
Wooden spoons	0/8	-
Wooden spoons	1/8	1.0
Wooden spoons	0/8	-
Wooden spoons	8/8	2.7
Wooden spoons	5/8	1.9
Wooden spoons	8/8	2.6
Wooden spoons	1/8	1.8
Scissors	0/8	-
Batteries	1/8	4.9
Batteries	2/8	348.8
Batteries	0/8	-
Towels	7/8	1.8
Towels	0/8	-
Scissors	0/8	-
Scissors	1/8	1.3
Scissors	0/8	-
Scissors	1/8	1.8
Scissors	1/8	0.6
Batteries	0/8	-
Batteries	0/8	-
Batteries	0/8	-
Batteries	2/8	5.2
Batteries	0/8	-
Towels	5/8	2.0
Towels	6/8	2.3
Towels	5/8	1.4
Towels	6/8	1.5
Towels	1/8	4.9
Towels	5/8	3.9
Towels	5/8	2.0
Towels	1/8	0.7
Towels	4/8	1.1
Towels	5/8	1.8
Towels	1/8	1.6
Wooden spoons	5/8	2.5
Wooden spoons	7/8	3.1
Wooden spoons	1/8	6.5
Wooden spoons	6/8	1.5
Wooden spoons	4/8	3.4
Wooden spoons	1/8	5.2
Wooden spoons	8/8	4.6
Wooden spoons	7/8	4.8
Wooden spoons	7/8	3.5
Wooden spoons	7/8	3.9
Wooden spoons	7/8	1.8
Scissors	4/8	1.0
Scissors	4/8	1.5
Batteries	2/8	2.5
Batteries	4/8	1.2
Batteries	0/8	-
Batteries	0/8	-
Batteries	1/8	1.4
Scissors	0/4	-
Towels	1/4	2.5
Towels	1/4	0.7
Towels	2/4	3.6
Towels	2/4	1.2
Towels	3/4	1.6
Towels	4/4	2.2
Towels	2/4	2.4
Scissors	1/8	-
Scissors	5/8	1.3
Batteries	0/8	-
Batteries	6/8	1.9
Towels	3/4	1.6
Batteries	5/8	1.3
Batteries	1/8	6.0
Batteries	2/8	0.9
Batteries	6/8	1.6
Batteries	0/8	-
Batteries	1/8	4.6
Batteries	2/8	2.4
Batteries	3/8	2.5
Wooden spoons	0/8	-
Wooden spoons	1/8	5.0
Wooden spoons	1/8	6.3
Wooden spoons	3/8	2.4
Wooden spoons	4/8	1.0
Wooden spoons	6/8	1.6
Wooden spoons	3/8	0.8
Wooden spoons	8/8	3.4
Wooden spoons	4/8	3.2
Wooden spoons	7/8	6.3
Towels	5/8	1.9
Towels	4/8	3.4
Towels	5/8	2.7
Towels	2/8	1.6
Towels	6/8	1.6
Towels	4/8	1.1
Towels	5/8	1.9
Towels	8/8	2.2
Towels	7/8	1.8
Scissors	1/8	1.8
Scissors	6/8	2.0
Scissors	2/8	0.9
Scissors	2/8	4.2
Scissors	4/8	1.1
Scissors	6/8	1.7
Scissors	1/8	0.7
Scissors	2/8	0.8
Scissors	4/8	1.0
Scissors	1/8	0.7
Scissors	7/8	1.9
Scissors	6/8	1.7
Scissors	5/8	1.5
Scissors	6/8	2.2
Scissors	5/8	1.3
Towels	6/8	2.4
Towels	5/8	2.4
Scissors	7/8	1.8
Scissors	0/8	-
Scissors	6/8	1.6
Scissors	4/8	1.6
Batteries	5/8	2.9
Batteries	5/8	1.3
Batteries	5/8	1.4
Batteries	3/8	1.9
Batteries	8/8	3.4
Batteries	4/8	1.1
Batteries	7/8	2.5
Batteries	5/8	2.9
Batteries	6/8	1.6
Batteries	5/8	3.0
Batteries	8/8	2.6
Batteries	5/8	1.3
Wooden spoons	8/8	2.9
Wooden spoons	8/8	2.8
Wooden spoons	8/8	3.5
Wooden spoons	8/8	2.6
Wooden spoons	5/8	3.1
Wooden spoons	7/8	3.6
Wooden spoons	8/8	4.9
Wooden spoons	8/8	3.3

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