10 ms·
π0.5: A VLA with open-world generalization
- beklein 1y agoThis is amazing! As someone working with industrial robots, normally under strict environmental constraints and control, witnessing such real-world robotics progress truly excites me about the future! By the way, they’ve open-sourced their π0 model (code and model weights). More information can be found here: https://github.com/Physical-Intelligence/openpi https://github.com/Physical-Intelligence/openpi
- UltraSane 1y agoIt seems robotics has advanced more in the last 3 years than the previous 20.
- htrp 1y agothe torrent of funding helps here
- Tireings 1y agoML helps here and the progress Nvidia made with their robotics platform.
- rurban 1y agoBut mostly OpenCV, in its excellent C++ and python variants. Not everything is modern ML heuristics, some classic AI is also needed still.
- UltraSane 1y agoThe vision language action models and the two level slow planning and fast control LLMs seem to be a big breakthrough.
- gs17 1y agoIs the robot platform they're using something they've developed themselves? The paper doesn't seem to mention any details outside of sensors and actuators.
- lachyg 1y agoOff the shelf robots -- we've got our models running on dozen+ different robot types (and have this specific generalization demo working on multiple platforms too.)
- gs17 1y agoGreat, would you happen to know what's used in this video?
- modeless 1y agoHere are some of the suppliers for things seen in the videos: https://arx-x.com/ https://arx-x.com/ https://x.com/GalaxeaDynamics https://x.com/GalaxeaDynamics https://www.youtube.com/@HEXMOVEHexmove_Robotic https://www.youtube.com/@HEXMOVEHexmove_Robotic https://www.trossenrobotics.com/ https://www.trossenrobotics.com/
- npodbielski 1y agoSo you are saying I can buy some robot, GPU and have this robot fold my laundry? How much? :D
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- meisel 1y agoThese variable-length arrays are getting quite advanced
- matthewfcarlson 1y agoIgnore the haters. This is hilarious
- layer8 1y agoPrecisely my thoughts.
- djoldman 1y agoI'm genuinely asking (not trying to be snarky)... Why are these robots so slow? Is it a throughput constraint given too much data from the environment sensors? Is it processing the data? I'm curious about where the bottleneck is.
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- robopolicy 1y agoPart of it is that training of these VLAs currently happens on human teleop data which limits speed (both for safety reasons and because of actual physical speed constraints in the teleoperation pipeline). Let’s see how it changes once these pipelines follow the LLM recipes to use more than just human data…
- dheera 1y agoNot a PI employee, but diffusion policies are like diffusion models for image generation, they generate actions from noise in multiple steps. With current compute you can't run 100+Hz control loops with that kind of architecture. Some combination of distillation, new architectures, faster compute, can eventually attack these problems. Historically as long as something in tech has been shown to be possible, speed has almost always been a non-issue in the years afterwards. For now even getting a robot to understand what to do in the physical world is a major leap from before.
- amelius 1y agoYou're probably right, but for some tasks I suppose you need processing speed, for example bipedal walking.
- davidguetta 1y agoThat's not the reason, Pi0 was basically predicting at 10hz and predicting a temporal chunk up to 50 points so it could go up to 500Hz. It's slow because the original telop is slow, and the learned controllers through imitation learning is always a bit slower. Source : i work on this (not at PI)
- airstrike 1y agoI'm just a layman, but I can't see this design scaling. It's way too slow and "hard" for fine motor tasks like cleaning up a kitchen or being anywhere around humans, really. I think the future is in "softer" type of robots that can sense whether their robot fingers are pushing a cabinet door (or if it's facing resistance) and adjust accordingly. A quick google search shows this example (animated render) which is closer to what I imagine the ultimate solution will be: https://compliance-robotics.com/compliance-industry/ https://compliance-robotics.com/compliance-industry/ Human flesh is way too squishy for us to allow hard tools to interface with it, unless the human is in control. The difference between a blunt weapon and the robot from TFA is that the latter is very slow and on wheels.
- nullc 1y agoThe development here is primarily in the model. If someone invents the 'brains' a robot needs to do useful domestic tasks then there will suddenly be a lot of incentive to build the right body for it.
- airstrike 1y agoRight, but ISTM that building the right body is a much harder problem than people are willing to admit. Software isn't constrained by the harsh truths of physical reality.
- huydotnet 1y agoAmazing! On a fun note, I believe if a human kid were cleaning up the spill and threw the sponge into the sink like that, the kid would be in trouble. XD
- scotty79 1y agocleaning a spill consists mostly of spreading it over the whole counter
- th0ma5 1y agoDoes the general laws of demos apply here? Than any automation shown is the extent of capabilities not the start?
- fwip 1y agoOne thing I notice is that they specify that the robot has never seen the homes before, but certain objects, like the laundry baskets, are identical. Doing your demo is significantly easier if you've already programmed/trained the robot to recognize the specific objects it has to interact with, even if those items are in different locations.
- horhay 1y agoThey also got these things working corners of a location instead of stacking tasks on different areas of the same location. And even on these "one-area" task groups it can fail a good amount. Kudos to them for showing the failures though
- dissahc 1y agoisn't object recognition essentially solved? AI models were beating humans at image classification (in terms of error rate) back in 2016. even if this particular model isn't the best at it, they can always call out to an API or have a secondary on-device VLM that has stronger object recognition capabilities
- th0ma5 1y agoThank you all I guess the answer is yes.
- desertmonad 1y agoFinally, machines doing the work we dont want to do
- ajhai 1y agohttps://x.com/ajhai/status/1899528923303809217 https://x.com/ajhai/status/1899528923303809217 something I have been working on for a few months now.
- bytesandbits 1y agoMost of it is open source. Their VLAs are based upon Gemma models + vision encoders, plus their own action experts. You can download and play around or fine tune their Pi0 VLAs from their servers directly (JAX format) or from Huggingface LeRobot safetensors port. They also have notebooks and code in their repo to get started with fine-tuning. Inference runs in a single 4090 RTX streamed over WiFi to the robot.
- amelius 1y agoOpenAI is among their investors, which makes me wonder how long their work remains "open".
- yencabulator 1y agoVLA = vision-language-action, a kind of a machine learning model
- zx8080 1y ago> Investors > We are grateful for the support of Bond, Jeff Bezos, Khosla Ventures, Lux Capital, OpenAI, Redpoint Ventures, Sequoia Capital, and Thrive Capital.