Does π0 run on ALOHA (stationary)?

Capabilities

Caveats

• openpi's ALOHA checkpoints were fine-tuned on Physical Intelligence's ALOHA data; upstream warns zero-shot use is experimental and recommends fine-tuning π0 on data from the target robot.

Evidence 4 sources; the cell shows the highest tier

1. T1 · upstream documentedofficial-docsverified 2026-10-24 (1d ago)

   openpi lists fine-tuned π0 'expert' checkpoints for the ALOHA platform (pi0_aloha_towel, pi0_aloha_tupperware, pi0_aloha_pen_uncap).

   “$\pi_0$ model fine-tuned on internal [ALOHA](https://tonyzhaozh.github.io/aloha/) data: can fold diverse towels 0-shot on ALOHA robot platforms”

   https://github.com/Physical-Intelligence/openpi/blob/215abfb217dbac7d5f1273282331b9b1866c0479/README.md
2. T1 · upstream documentedofficial-docsverified 2026-10-24 (1d ago)

   openpi's real-ALOHA example: runs π0 checkpoints on an ALOHA setup (tonyzhaozh/aloha hardware, ROS) via a policy server, and documents fine-tuning on your own ALOHA dataset (pi0_aloha_pen_uncap config).

   “This example demonstrates how to run with a real robot using an [ALOHA setup](https://github.com/tonyzhaozh/aloha).”

   https://github.com/Physical-Intelligence/openpi/blob/215abfb217dbac7d5f1273282331b9b1866c0479/examples/aloha_real/README.md
3. T1 · upstream documentedpapersource 2024-10-31verified 2026-10-24 (1d ago)

   π0 paper: one of the training/evaluation platforms is a bimanual Trossen ViperX setup based on ALOHA.

   “Bimanual Trossen. This setup has two 6-DoF Trossen ViperX arms in a configuration based on the ALOHA setup [4, 57], with two wrist cameras and a base camera, and a 14-dimensional configuration and action space.”

   https://arxiv.org/abs/2410.24164
4. T3 · community reportedhub-checkpointverified 2026-10-24 (1d ago)

   LeRobot-format checkpoint: config.json type=pi0; trained on TrossenRoboticsCommunity/aloha_fold_tshirt whose meta/info.json robot_type=aloha (21 episodes). Card tags platform:aloha, robot:stationary, framework:lerobot-latest.

   https://huggingface.co/TrossenRoboticsCommunity/pi0-fold-tshirt-aloha