---
title: pi0
canonical_url: "https://www.modelscope.cn/models/lerobot/pi0"
md_url: "https://www.modelscope.cn/models/lerobot/pi0.md"
repository: lerobot/pi0
last_updated: 2025-09-19
license: apache-2.0
pipeline_tag: robotics
tasks:
  - robotics
parameters: 3.5B
tensor_type:
  - F32
library_name:
  - safetensors
  - pytorch
frameworks:
  - pytorch
downloads: 2245
stars: 1
---

# pi0

> pi0 - lerobot 在 ModelScope 开源的模型。Pi0 pretrained model

lerobot/pi0 是 ModelScope 魔搭社区上的 3.5B 参数robotics模型，采用 apache-2.0 许可。

- **Repository**: lerobot/pi0
- **License**: apache-2.0
- **Tasks**: robotics
- **Parameters**: 3.5B
- **Downloads**: 2245
- **Stars**: 1
- **Last updated**: 2025-09-19

Source: https://www.modelscope.cn/models/lerobot/pi0

---

## Pi0 pretrained model

This repository contains the model described in [π_0: A Vision-Language-Action Flow Model for General Robot Control](https://huggingface.co/papers/2410.24164).

See the [Twitter thread](https://x.com/RemiCadene/status/1886823939856589296) and [blog post](https://huggingface.co/blog/pi0) for more info regarding its integration in [LeRobot](https://github.com/huggingface/lerobot).

## Usage

You can download and use this model with:
```python
policy = Pi0Policy.from_pretrained("lerobot/pi0")
action = policy.select_action(batch)
```

## Fine-tuning

You can easily finetune it on your dataset. For instance on @dana_55517 's [dataset](https://huggingface.co/spaces/lerobot/visualize_dataset?dataset=danaaubakirova%2Fkoch_test&episode=0):
```python
python lerobot/scripts/train.py \
--policy.path=lerobot/pi0 \
--dataset.repo_id=danaaubakirova/koch_test
```

Take a look at the [code](https://github.com/huggingface/lerobot/blob/main/lerobot/common/policies/pi0/modeling_pi0.py) regarding the implementation.