CanIEmbody
Matrix/SO-100/π0

Does π0 run on SO-100?

works
T1 · upstream documentedlast verified 2026-10-24 · 1d agoLeRobot 0.6.1
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Capabilities

CapabilityStateNotesEvidence
Train / fine-tuneworkspi0 (3.5B) multi-task baseline trained on the SO100 tasks in the SmolVLA paper.ev-smolvla-paper-so100
Real-robot inferenceworksev-lerobot-inference-pi0-rtc, ev-smolvla-paper-so100
Simulation inferenceno verified evidence—
Teleop + recordno verified evidence—

Evidence 2 sources; the cell shows the highest tier

  1. T1 · upstream documentedofficial-docssource 2026-08-03verified 2026-10-24 (1d ago)lerobot 0.6.1

    LeRobot v0.6.1 rollout guide: Real-Time Chunking example deploys a pi0 policy on so100_follower.

    “ --policy.path=${HF_USER}/pi0_policy \ --robot.type=so100_follower \”
    https://github.com/huggingface/lerobot/blob/v0.6.1/docs/source/inference.mdx
  2. T1 · upstream documentedpapersource 2025-06-02verified 2026-10-24 (1d ago)

    SmolVLA paper (Hugging Face/LeRobot team), Table 3: real-world SO100 benchmark (pick-place, stacking, sorting) comparing ACT (single-task), pi0 3.5B and SmolVLA (multi-task).

    “Table 3: Real-world benchmarks (SO100). Success rate (%) across three tasks using policies trained in multi-task and single-task settings.”
    https://arxiv.org/html/2506.01844v1

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π0 on SO-100: works

[![π0 on SO-100: works](https://caniembody.pages.dev/badge/so100/pi0.svg)](https://caniembody.pages.dev/compat/so100/pi0)
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History

  1. 2026-10-25 fecccd1 Initial release: robot policy compatibility matrix · Danilo Znamerovszkij