Does π0-FAST run on ALOHA (stationary)?
works with caveats
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | no verified evidence | — | |
| Real-robot inference | works | ev-fast-paper | |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Caveats
- Evidence is Physical Intelligence's own zero-shot evaluation of its generalist π0-FAST on an in-house bimanual Trossen ViperX setup that mirrors ALOHA; openpi ships no π0-FAST ALOHA config or checkpoint.
Evidence 1 source; the cell shows the highest tier
- T1 · upstream documentedpapersource 2025-01-16verified 2026-10-24 (1d ago)
FAST paper: the generalist π0-FAST is evaluated zero-shot on the 'toast out of toaster' task, run on a bimanual Trossen ViperX robot mirroring the ALOHA setup (Section VI-F, Fig. 11).
“This task requires a bi-manual Trossen ViperX robot, mirroring the ALOHA [70] setup, to take two pieces of toast out of a toaster and place them onto a plate. This task was evaluated out-of-the-box on models pretrained with the full mixture detailed in Black et al. [7].”
https://arxiv.org/abs/2501.09747
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- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij