Does π0 run on Mobile ALOHA?
Scope: Only a misconfigured zero-shot pi0_base run is documented: it executed on Mobile ALOHA hardware but produced no task behavior. No fine-tuned or correctly configured Mobile ALOHA run is publicly documented.
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | no verified evidence | — | |
| Real-robot inference | partial | Issue #332: pi0_base served through openpi's static ALOHA runtime (--env ALOHA) with the static 'trossen' norm stats; the robot only moved slightly in place. A Physical Intelligence contributor said the 'trossen_mobile' stats should be used, zero-shot success is not expected, and fine-tuning is recommended. | ev-openpi-issue-332, ev-openpi-issue-332-reply, ev-openpi-norm-stats-mobile-aloha |
| Simulation inference | no verified evidence | — | |
| Teleop + record | no verified evidence | — |
Evidence 3 sources; the cell shows the highest tier
- T3 · community reportedgithub-issuesource 2025-02-26verified 2026-10-25 (today)
User ran pi0_base zero-shot on Mobile ALOHA via examples/aloha_real (--env ALOHA, 'pick a cup'); checkpoint and 'trossen' norm stats loaded, but the robot only moved slightly and never approached the cup.
“The robot moves slightly in place but does not go towards the cup.”
https://github.com/Physical-Intelligence/openpi/issues/332 - T3 · community reportedgithub-issuesource 2025-03-06verified 2026-10-25 (today)
Physical Intelligence contributor: zero-shot on a new task is not expected to work, Mobile ALOHA is untested outside their office, fine-tune on task data, and load 'trossen_mobile' rather than 'trossen' norm stats.
“I do not expect pi0 to work zero-shot on a new task and we have not tested performance on mobile aloha's outside of our office.”
https://github.com/Physical-Intelligence/openpi/issues/332#issuecomment-2702822480 - T1 · upstream documentedofficial-docssource 2025-06-20verified 2026-10-25 (today)
Supporting only (not deployment evidence): openpi publishes pi0_base pre-training normalization statistics for Mobile ALOHA (asset 'trossen_mobile').
“Mobile ALOHA | Mobile version of ALOHA mounted on a Slate base | trossen_mobile”
https://github.com/Physical-Intelligence/openpi/blob/070759fae105d05e958efe78fe6fb08631f23da5/docs/norm_stats.md
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- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij