Does π0 run on Reachy 2?
partial
Scope: Simulation only: a π0 checkpoint fine-tuned on simulated Reachy 2 teleoperation data (TAVIS benchmark) with a simulation eval script. No real-robot training or inference is documented.
Capabilities
| Capability | State | Notes | Evidence |
|---|---|---|---|
| Train / fine-tune | works | Simulated (VR-teleoperated) TAVIS-Hands Reachy 2 data, not real-robot data. | ev-tavis-pi0-reachy2-checkpoint, ev-tavis-org-card |
| Real-robot inference | no verified evidence | — | |
| Simulation inference | partial | The benchmark ships an eval script that rolls out its π0 checkpoints in simulation; no Reachy 2 results are published. | ev-tavis-org-card |
| Teleop + record | no verified evidence | — |
Caveats
- Community-reported only (TAVIS benchmark, anonymous submission under double-blind review); no Reachy 2 success rates are published yet.
Evidence 2 sources; the cell shows the highest tier
- T3 · community reportedhub-checkpointsource 2026-05-04verified 2026-10-25 (today)
config.json type=pi0 (head + two wrist cameras, 36-dim state, 19-dim action), base_model lerobot/pi0_base, card dataset tavis-benchmark/tavis-hands-reachy2 (LeRobotDataset v3.0, robot_type null; robot identified by the card and org page).
“π₀ multi-task checkpoint, fine-tuned on the TAVIS-Hands suite for the Reachy2 humanoid with head + bimanual wrist cameras.”
https://huggingface.co/tavis-benchmark/pi0-tavis-hands-reachy2/blob/db7ee5cadd2eda28a2582bfb382032847a4272bb/README.md - T3 · community reportedcommunity-postsource 2026-05-31verified 2026-10-25 (today)
TAVIS org card: eight simulated manipulation tasks on Fourier GR1T2 and Pollen Reachy 2, VR-teleoperated demos, π0 baselines; tavis-hands-reachy2 (300 episodes) and pi0-tavis-hands-reachy2 listed as Reachy2.
“TAVIS ships eight simulated manipulation tasks across two robots (**Fourier GR1T2** and **Pollen Reachy 2**)”
https://huggingface.co/spaces/tavis-benchmark/README/blob/0674f64be968791a6d75fc237c0d77621369b99c/README.md
Embed this cell
Badge for READMEs and model cards. It always shows the current state.
[](https://caniembody.pages.dev/compat/reachy2/pi0)<iframe src="https://caniembody.pages.dev/embed/reachy2/pi0" width="380" height="132" style="border:0" title="π0 on Reachy 2 | CanIEmbody"></iframe>History
- 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij