OpenVINO/pi05-libero-fp16-ov

Pi05

That's a powerful vision-language-action model with open-world generalization capabilities. The original implementations can be found here. The model takes images from one or multiple cameras, robot state, and language instruction and produces a chunk of actions, which robot can execute as a sequence of movements in real world.

The model weights are converted from the official HF repo and can be directly applied in the LIBERO virtual benchmark environment.

To fine-tune your model with a custom dataset, you can use Physical AI Studio.

How to Use

Running Inference with OpenVINO Physical AI framework.

Installation

uv pip install physicalai numpy

The following API example showcases inference API for this model:

import numpy as np
from physicalai.inference import InferenceModel

model = InferenceModel("pi05-libero-fp16-ov", device="CPU")

# Build a dummy LIBERO-style observation.
# LIBERO provides two cameras (agentview + wrist) and an 8-dim robot state.
# Images use the LeRobot convention: float32 in [0, 1], shape (C, H, W).
observation = {
    "images.image": np.random.rand(1, 3, 256, 256).astype(np.float32),
    "images.image2": np.random.rand(1, 3, 256, 256).astype(np.float32),
    "state": np.zeros((1, 8), dtype=np.float32),
    "task": ["sample task description"],
}

chunk = model.predict_action_chunk(observation)

Running Accuracy Evaluation on LIBERO

Installation

uv pip install physicalai-train[libero,pi05]

The following API example demonstrates how to run the model on LIBERO:

from physicalai.benchmark import LiberoBenchmark
from physicalai.inference import InferenceModel

model = InferenceModel("pi05-libero-fp16-ov", device="CPU")

benchmark = LiberoBenchmark(
    task_suite="libero_10",
    video_dir="fail_videos"
)

results = benchmark.evaluate(model)

Note that the model should be downloaded and saved to the pi05-libero-fp16-ov folder prior to running this script.

Legal information

The original model is distributed under Apache 2.0 license.

Disclaimer

Intel is committed to respecting human rights and avoiding causing or contributing to adverse impacts on human rights. See Intel’s Global Human Rights Principles. Intel’s products and software are intended only to be used in applications that do not cause or contribute to adverse impacts on human rights.