Embedl's build embedl/pi05-droid of the original model Physical-Intelligence/openpi
- embedl/pi05-droid
- FP8
- H200
- Labels
- Text
- VLA
- Robot Policy
- Build
- Embedl-optimized
- Precision
- FP8
- Runtime
- TensorRT 10.16.1.11 with Embedl optimizations
- Action chunk
- 15 joint-position actions per call, 10 denoising steps
- Checkpoint
- pi05_droid_jointpos (OpenPI, RoboLab's config)
π0.5 is Physical Intelligence's vision-language-action policy: it takes camera images, the arm's joint and gripper positions and a task instruction, and outputs robot actions. This is the DROID checkpoint on joint positions (pi05_droid_jointpos), driving a Franka arm in the RoboLab simulator.
Simulator: RoboLab
ad45d4f · Isaac Sim 5.0, Isaac Lab 2.2.0 · Franka Emika Panda (DROID) · 15 steps per second
7 scenes
Banana in the bowl banana_bowl
RoboLab-120 · at most 750 steps
- Pick up the banana and place it in the bowl
- Put the fruit in the bowl
- Grasp the yellow banana and place it inside the red bowl on the table
An orange into the white bowl orange_bowl
RoboLab-120 · at most 900 steps
- Move an orange to the white bowl
- Move orange to white bowl
- Pick up one orange citrus fruit and place it inside the white bowl
Yellow block on red yellow_on_red
RoboLab-120 · at most 900 steps
- Stack the yellow block on the red block
- Stack blocks: yellow on red
- Pick up the yellow block on the left and place it precisely on top of the red block in front of the birdhouse
Red things into the bin red_items_bin
RoboLab-120 · at most 900 steps
- Put all the red things in the grey bin
- Sort items by color
- Identify every red-colored object on the table and place each one into the grey bin
Blocks into the bin blocks_in_bin
RoboLab-120 · at most 2250 steps
- Sort all colored blocks into the bin
- Put away the colored blocks
- Put away the solidly-colored wooden blocks from the table and place them all into the bin
Block tower block_tower
RoboLab-120 · at most 1350 steps
- Stack the blocks into a tower
- Build a tower
- Pick up the colored blocks and stack them vertically on top of each other, forming one tower
Blocks in color order colored_blocks
RoboLab-120 · at most 1350 steps
- Stack the blocks in the order from bottom to top: red, blue, green, yellow
- Stack in the order of red, blue, green, yellow
- Build a tower by placing the red block first, then the blue block on top, then the green, and finally the yellow block on top as a single tower
OpenPI code is Apache-2.0; the weights and tokenizer are Gemma Model Derivatives under the Gemma Terms of Use (ai.google.dev/gemma/terms). Not an official Physical Intelligence product.
Methodology
- Latency: Policy end to end (served transforms and engine), median of 20 runs; the engine alone, median, on the device.
- Accuracy: task success is RoboLab-120's as published (Yang et al., NVIDIA, 2026), not measured on this build. The build checks its served actions against OpenPI's PyTorch policy on DROID samples (actions cosine).
- Simulator: RoboLab (NVIDIA Isaac Sim) runs on its own device; the policy's runner drives it one episode at a time, so a run may wait for another.